Multi-flight-attitude three-rotor-position rudderless aircraft

Abstract

A rudderless aircraft with multiple flight attitudes and three rotor positions belongs to the technical field of aviation, solves the technical problem of insufficient working efficiency of a tilting power mechanism on a tilting rotorcraft, and adopts the technical scheme that a front wing and a rear wing are not provided with control surfaces, and a tail position is not provided with a vertical tail, an elevator and a rudder; the wingspan of the front wing is smaller than that of the rear wing; the first tilting power mechanism is arranged at the position of a machine head, the second tilting power mechanism and the third tilting power mechanism are symmetrically arranged at the outer ends of the front side edges of the rear wings on the two sides respectively, the tilting angle of the three tilting power mechanisms ranges from-20 degrees to 120 degrees, and the connecting line of the three tilting power mechanisms in the space position is in a triangular shape. The power, the rotating speed and the tilting angles of the three tilting power mechanisms are independently controlled, and the multi-flight-attitude rudderless aircraft is formed. The device is simple in structure, special in layout, thorough in aerodynamic decoupling, free of mutual interference of flow fields, sufficient in balance moment and stable in mode conversion.

Description

Technical Field

[0001] The utility model belongs to the field of aviation technology, and particularly relates to a rudderless aircraft with three rotor positions and multiple flight postures. Background Art

[0002] The traditional fixed-wing flight attitude control scheme is as follows: the aircraft's roll is controlled by the ailerons on both sides, yaw is controlled by the rudders on the tail, and pitch is controlled by the elevators on the tail. Traditional fixed-wing aircraft are not only complex to control, but the multiple control surfaces and the servos that control them are also heavy, affecting the aircraft's payload and endurance.

[0003] With the rapid development of science and technology, in recent years, there have been many types of aircraft, including fixed-wing, multi-rotor, helicopter, vertical fixed-wing and other products with various flight modes. Among them, the tilt-rotor aircraft is a new type of aircraft that integrates the characteristics of fixed-wing aircraft and helicopters. Some people vividly call it an aerial "hybrid". It solves the technical problem of aircraft realizing multiple mode switching according to flight attitude requirements. For example, the patent document "Three-propeller steering mechanism" (authorization announcement number: CN206407130 U) discloses that the first propeller mechanism and the second propeller mechanism are respectively installed on the leading edge of the left and right main wings of the aircraft, and the third propeller mechanism is installed on the fuselage; similarly, the patent document "Rudderless UAV and Flight Attitude Control Method" (application publication number: CN 119527600 A) also discloses that the first power mechanism and the second power mechanism are respectively arranged on the wings on both sides, and the rotation directions of the first power mechanism and the second power mechanism are respectively toward the outside of the wings on both sides, and the third power mechanism is arranged at the rear of the body and is arranged upward; for example, the patent document "A vertical take-off and landing fixed-wing aircraft" (application publication number: CN 118182828 A) drives the rotor to rotate by rotating the wings, thereby meeting the switching of different flight attitudes.

[0004] However, according to the above three patent documents, it can be seen that the common problems in the prior art are: the third propeller is generally arranged on the fuselage and cannot be tilted; even if the third propeller is arranged at the tail position to achieve tilting, the first and second propellers arranged on the front wing and the third propeller arranged on the fuselage or the tail form an inverted triangle shape. The air disturbance caused by the first and second propellers arranged on the front wing affects the operation of the third propeller arranged on the fuselage, reducing the actual effectiveness of the third propeller. Utility Model Content

[0005] The main purpose of the utility model is to overcome the deficiencies in the prior art and improve the working efficiency of the tilting power mechanism on a tiltrotor aircraft. The utility model provides a rudderless aircraft with multiple flight postures and three rotor positions.

[0006] The utility model is realized by the following technical solution: a multi-flight attitude three-rotor position rudderless aircraft, which includes a fuselage, a front wing, a rear wing and a tilting power mechanism, wherein the head and tail sides of the fuselage are respectively provided with a nose and a tail, the front wing is provided at the head of the fuselage, and the rear wing is provided at the tail of the fuselage, and the tilting power mechanism includes a first tilting power mechanism, a second tilting power mechanism and a third tilting power mechanism, wherein:

[0007] The wingspan of the front wing is smaller than that of the rear wing, no rudders are provided on the front and rear wings, and no vertical tail, elevator, or rudder is provided at the tail position; the first tilt power mechanism is provided at the nose position, the second tilt power mechanism and the third tilt power mechanism are symmetrically provided at the outer end portions of the front side edges of the rear wings on both sides, the tilt angles of the first tilt power mechanism, the second tilt power mechanism, and the third tilt power mechanism in the vertical plane are -20° to 120°, the line connecting the first tilt power mechanism, the second tilt power mechanism, and the third tilt power mechanism in the spatial position (i.e., the three-rotor position) is in the shape of a triangle, and the power, speed, and tilt angle of the first tilt power mechanism, the second tilt power mechanism, and the third tilt power mechanism are independently controlled;

[0008] When the rudderless aircraft is in a helicopter flight attitude (helicopter mode): the rotation axes of the first tilt power mechanism, the second tilt power mechanism, and the third tilt power mechanism are tilted in a horizontal plane to a vertically upward state, the tilt power mechanism rotates to provide vertical lift, the aircraft takes off and lands vertically or hovers, and the tilt angles of the second tilt power mechanism and the third tilt power mechanism are differentially adjusted forward and backward to drive the aircraft to perform horizontal powered rotation;

[0009] When the rudderless aircraft is in a fixed-wing flight attitude (fixed-wing mode): the rotation axes of the first tilt power mechanism, the second tilt power mechanism and the third tilt power mechanism are tilted in the horizontal plane to a horizontal forward state, and the tilt power mechanism rotates to provide horizontal pulling force. By controlling the speed difference of the three tilt power mechanisms, the attitude and steering of the aircraft are adjusted.

[0010] Furthermore, a line connecting the first tilting power mechanism, the second tilting power mechanism and the third tilting power mechanism in space is in the shape of an isosceles triangle.

[0011] Furthermore, the tilt power mechanism includes a fixed support seat, a steering bracket, a servo, a tilt shaft, a blade and a connecting rod. The fixed support seat is fixedly installed at the corresponding position of the nose or rear wing, the fixed support seat is arranged in a C shape, and the side walls on both sides of the fixed support seat are arranged in the horizontal direction. The tilt shaft is arranged through the side walls on both sides, and a driven gear is installed on the tilt shaft; the servo is installed on the fixed support seat, the power output end of the servo is connected to the driving gear, and the driving gear is meshed with the driven gear; the steering bracket is also arranged in a C shape, the fixed support seat is inserted into the opening position of the steering bracket, the head and tail ends of the tilt shaft are respectively fixedly connected to the side walls on both sides corresponding to the steering bracket, and the servo drives the tilt shaft through the driving gear and the driven gear to drive the steering bracket to rotate; the connecting rod is vertically arranged on the side wall on the opposite side of the steering bracket opening direction, and a motor is arranged at the outer end of the connecting rod. The motor is connected to the blade through the blade seat, and the motor drives the blade to rotate through the blade seat.

[0012] Furthermore, the blade is a single blade or a double blade.

[0013] Furthermore, flaps are respectively provided on the rear side edges of the front and rear wings, and the attitude and steering of the aircraft are assisted by the flaps provided on the front and rear wings.

[0014] The beneficial effects of the present invention are:

[0015] The utility model provides a tilt-rotor, three-rotor, rudderless, fixed-wing aircraft capable of vertical take-off and landing. The aircraft has a simple structure, a special layout, complete aerodynamic decoupling, non-interference in flow fields, sufficient balancing torque, smooth mode conversion, simple control, flexible movements, and the ability to fly with full degrees of freedom. The aerodynamics of each component are compatible and taken into account, and the safety redundancy is superior to that of other aircraft with similar functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the tilting power mechanism;

[0018] Figure 3 This is a schematic diagram of the cross-sectional structure of the tilting power mechanism from a top view (blades omitted);

[0019] Figure 4 This is a schematic diagram of the three-dimensional structure of the aircraft in helicopter mode, in vertical take-off and landing or hovering state;

[0020] Figure 5 This is a schematic diagram of the three-dimensional structure of the aircraft in the horizontal forward direction state in helicopter mode;

[0021] Figure 6This is a schematic diagram of the three-dimensional structure of the aircraft in the horizontal backward state in helicopter mode;

[0022] Figure 7 This is the schematic diagram of the aircraft rotating horizontally counterclockwise when hovering in helicopter mode;

[0023] Figure 8 This is a schematic diagram of the three-dimensional structure of the aircraft in fixed-wing mode;

[0024] Figure 9 This is a schematic diagram of the three-dimensional structure of the aircraft rolling along the forward direction in fixed-wing mode; Figure 9 In (a), F2>F3, the aircraft turns right along the forward direction; Figure 9 In (b), F2 < F3, the aircraft turns left in the forward direction;

[0025] Figure 10 Schematic diagram of the mechanical characteristics of flap-assisted attitude adjustment.

[0026] In the figure, 1 is the nose, 2 is the fuselage, 3 is the tail, 4 is the front wing, 5 is the rear wing, 6 is the first tilt power mechanism, 7 is the second tilt power mechanism, 8 is the third tilt power mechanism, 9 is the flap, 10 is the tilt power mechanism, 10-1 is the fixed support seat, 10-2 is the steering bracket, 10-3 is the servo, 10-4 is the tilt shaft, 10-5 is the blade, 10-6 is the connecting rod, 10-7 is the driven gear, 10-8 is the driving gear, and 10-9 is the blade seat. DETAILED DESCRIPTION

[0027] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0028] like Figure 1 The multi-flight attitude three-rotor position rudderless aircraft shown in the figure includes a fuselage 2, a front wing 4, a rear wing 5, and a tilting power mechanism 10. The front and rear sides of the fuselage 2 are respectively provided with a nose 1 and a tail 3. The front wing 4 is provided at the head of the fuselage 2, and the rear wing 5 is provided at the tail of the fuselage 2. The tilting power mechanism 10 includes a first tilting power mechanism 6, a second tilting power mechanism 7, and a third tilting power mechanism 8, wherein:

[0029] The wingspan of the front wing 4 is smaller than that of the rear wing 5. No rudder is provided on the front wing 4 and the rear wing 5. No vertical tail, elevator or rudder is provided at the tail 3. The first tilting power mechanism 6 is provided at the nose 1. The second tilting power mechanism 7 and the third tilting power mechanism 8 are symmetrically provided at the outer ends of the front side edges of the rear wings 5 ​​on both sides, forming a "three-rotor position". The tilting angle of the first tilting power mechanism 6, the second tilting power mechanism 7 and the third tilting power mechanism 8 in the vertical plane is -20° to 120° (such as Figure 2As shown in the figure, the line connecting the first tilting power mechanism 6, the second tilting power mechanism 7 and the third tilting power mechanism 8 in space is a triangle, preferably an isosceles triangle. In the present invention, the first tilting power mechanism 6, the second tilting power mechanism 7 and the third tilting power mechanism 8 form a positive triangle in space, which is opposite to the "inverted triangle shape" of the three tilting power mechanisms in the background art. The power, speed and tilt angle of the first tilting power mechanism 6, the second tilting power mechanism 7 and the third tilting power mechanism 8 are independently controlled.

[0030] like Figure 3 As shown, the tilting power mechanism 10 includes a fixed support seat 10-1, a steering bracket 10-2, a steering gear 10-3, a tilting shaft 10-4, a blade 10-5 and a connecting rod 10-6. The fixed support seat 10-1 is fixedly installed at the corresponding position of the nose 1 or the rear wing 5. The fixed support seat 10-1 is set in a C shape. The side walls on both sides of the fixed support seat 10-1 are arranged in the horizontal direction. The tilting shaft 10-4 is set through the side walls on both sides. The driven gear 10-7 is installed on the tilting shaft 10-4; the steering gear 10-3 is installed on the fixed support seat 10-1, and the power output end of the steering gear 10-3 is connected to the driving gear 10-8, and the driving gear 10-8 is engaged with the driven gear 10-7; the steering gear 10-3 is installed on the fixed support seat 10-1, and the driving gear 10-8 is engaged with the driven gear 10-7. The steering bracket 10-2 is also set to a C shape, and the fixed support seat 10-1 is inserted into the opening position of the steering bracket 10-2. The head and tail ends of the tilt shaft 10-4 are respectively fixedly connected to the side walls corresponding to the steering bracket 10-2. The servo 10-3 drives the tilt shaft 10-4 through the driving gear 10-8 and the driven gear 10-7 to drive the steering bracket 10-2 to rotate; the connecting rod 10-6 is vertically arranged on the side wall on the opposite side of the opening direction of the steering bracket 10-2, and a motor is set at the outer end of the connecting rod 10-6. The motor is connected to the blade 10-5 through the blade seat 10-9, and the motor drives the blade 10-5 to rotate through the blade seat 10-9. In this embodiment, the blade 10-5 selects a double blade.

[0031] In this embodiment, the rotor lifts generated by the first tilt power mechanism 6, the second tilt power mechanism 7 and the third tilt power mechanism 8 are F1, F2 and F3 respectively; when the aircraft is in fixed-wing mode, the forward flight speed is v, the upward lift generated by the front wing is f1 and f2, and the upward lift generated by the rear wing is f3 and f4.

[0032] When the rudderless aircraft is in a helicopter flight posture: the rotation axes of the first tilting power mechanism 6, the second tilting power mechanism 7 and the third tilting power mechanism 8 are tilted in the horizontal plane to a vertical upward state, and the tilting power mechanism rotates to provide vertical lift, and the aircraft takes off and lands vertically or hovers (such as Figure 4As shown), the aircraft is driven to rotate horizontally by means of the forward and backward differential adjustment of the tilting angles of the second tilting power mechanism 7 and the third tilting power mechanism 8.

[0033] By adjusting the tilt angle of a single or multiple tilting power mechanisms, the horizontal direction can be achieved. Figure 5 As shown, the horizontal direction retreats as Figure 6 As shown in the figure, and the mechanical analysis diagram of the horizontal power rotation when hovering, the horizontal counterclockwise rotation principle of the aircraft when hovering is shown in the figure. Figure 7 shown.

[0034] like Figure 8 As shown, when the rudderless aircraft is in a fixed-wing flight posture: the rotation axes of the first tilt power mechanism 6, the second tilt power mechanism 7 and the third tilt power mechanism 8 are tilted in the horizontal plane to a horizontal forward state, and the tilt power mechanism rotates to provide a horizontal pulling force, so that the aircraft obtains a forward speed, and the attitude and steering of the aircraft are adjusted by controlling the speed difference of the three tilt power mechanisms.

[0035] The fixed wings generate lift (f1, f2, f3, f4) to overcome gravity and keep the aircraft at a certain altitude. The 10-5 rotation speed difference of the blades of the tilting power mechanism creates a forward pull difference between the left and right rotors, which can achieve power steering. The fuselage head or wing rotors can be tilted at a small angle to achieve climbing or diving movements. Figure 9 As shown, when F2>F3, the aircraft turns right along the forward direction ( Figure 9 (a)); On the contrary, when F2<F3, the aircraft turns left along the forward direction ( Figure 9 (b)).

[0036] The conversion between helicopter mode and fixed-wing mode is shown below.

[0037] 1. Switch from helicopter mode to fixed-wing mode:

[0038] When taking off, landing or hovering in helicopter mode, the tilting power mechanism is in a vertical upward state. After takeoff, the tilting power mechanism is adjusted to tilt from the vertical direction to the horizontal direction. The component force of the tilting power mechanism in the horizontal forward direction is F n × cosθ, n = 1, 2, 3, will push the aircraft forward and accelerate gradually. In this process, the weight of the aircraft is determined by the vertical component of the lift force of the gradually tilted rotor (F n × sinθ, gradually decreasing) and the lift generated by the aircraft's forward wings (f1, f2, f3, and f4 gradually increasing) until the tilt mechanism tilts to fixed-wing mode, completing the transition. At this point, the tilt mechanism provides only forward power, and the fuselage's weight is borne entirely by the lift generated by the wings.

[0039] 2. Switch from fixed-wing mode to helicopter mode:

[0040] When the aircraft is in fixed-wing mode, it flies horizontally in the air, and the weight of the fuselage is entirely borne by the lift generated by the wings. In the process of converting to helicopter mode, by adjusting the tilt of the three tilting power mechanisms, the tilting power mechanisms tilt from the horizontal direction to the vertical direction (above the fuselage), and the gradually upward tilting rotor exerts a horizontal forward force component (F n ×cosθ) decreases, and the aircraft decelerates horizontally. In this process, the weight of the aircraft is determined by the vertical component (F n × sinθ gradually increases) and the lift generated by the aircraft's wings (gradually decreases) share the burden until the tilt mechanism tilts to helicopter mode, completing the transition. At this point, the aircraft's horizontal speed approaches zero, the wings no longer generate lift, and the rotor lift bears the entire weight of the fuselage.

[0041] As a preferred embodiment, based on the aforementioned helicopter mode and fixed-wing mode, flaps 9 can be provided on the trailing edges of the front and rear wings respectively, and the flaps can be used to assist in adjusting the attitude. The mechanical characteristic principle diagram is shown in FIG. Figure 10 shown.

[0042] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A multi-flight attitude three-rotor position rudderless aircraft, comprising a fuselage (2), a front wing (4), a rear wing (5) and a tilting power mechanism (10), wherein a nose (1) and a tail (3) are respectively arranged on the front and rear sides of the fuselage (2), the front wing (4) is arranged at the front of the fuselage (2), and the rear wing (5) is arranged at the tail of the fuselage (2), and the tilting power mechanism (10) comprises a first tilting power mechanism (6), a second tilting power mechanism (7) and a third tilting power mechanism (8), and is characterized in that: The wingspan of the front wing (4) is smaller than that of the rear wing (5), no rudders are provided on the front wing (4) and the rear wing (5), and no vertical tail, elevator and rudder are provided at the tail (3); the first tilting power mechanism (6) is provided at the nose (1), the second tilting power mechanism (7) and the third tilting power mechanism (8) are symmetrically provided at the outer end portions of the front side edges of the rear wings (5) on both sides, the tilting angle of the first tilting power mechanism (6), the second tilting power mechanism (7) and the third tilting power mechanism (8) in the vertical plane is -20° to 120°, the connecting line of the first tilting power mechanism (6), the second tilting power mechanism (7) and the third tilting power mechanism (8) in space is in the shape of a triangle, and the power, rotation speed and tilting angle of the first tilting power mechanism (6), the second tilting power mechanism (7) and the third tilting power mechanism (8) are independently controlled; When the rudderless aircraft is in a helicopter flight attitude: the rotation axes of the first tilting power mechanism (6), the second tilting power mechanism (7) and the third tilting power mechanism (8) are tilted in a horizontal plane to a vertically upward state, the tilting power mechanism rotates to provide lift in the vertical direction, the aircraft takes off and lands vertically or hovers, and the tilting angles of the second tilting power mechanism (7) and the third tilting power mechanism (8) are differentially adjusted forward and backward to drive the aircraft to rotate horizontally; When the rudderless aircraft is in a fixed-wing flight attitude: the rotation axes of the first tilting power mechanism (6), the second tilting power mechanism (7) and the third tilting power mechanism (8) are tilted in a horizontal plane to a horizontal forward state, and the tilting power mechanism rotates to provide a pulling force in the horizontal direction. By controlling the speed difference of the three tilting power mechanisms, the attitude and steering of the aircraft are adjusted.

2. The multi-flight attitude three-rotor position rudderless aircraft according to claim 1, characterized in that: The connecting line of the first tilting power mechanism (6), the second tilting power mechanism (7) and the third tilting power mechanism (8) in space is in the shape of an isosceles triangle.

3. The multi-flight attitude three-rotor position rudderless aircraft according to claim 1, characterized in that: The tilting power mechanism (10) comprises a fixed support seat (10-1), a steering bracket (10-2), a steering gear (10-3), a tilting shaft (10-4), a blade (10-5) and a connecting rod (10-6); the fixed support seat (10-1) is fixedly mounted on a corresponding position of the nose (1) or the rear wing (5); the fixed support seat (10-1) is arranged in a C shape; side walls on both sides of the fixed support seat (10-1) are arranged in a horizontal direction; the tilting shaft (10-4) is arranged through the side walls on both sides; a driven gear (10-7) is mounted on the tilting shaft (10-4); the steering gear (10-3) is mounted on the fixed support seat (10-1); a power output end of the steering gear (10-3) is connected to a driving gear (10-8); the driving gear (10-8) is connected to the driven gear (10-7) meshing; the steering bracket (10-2) is also arranged in a C shape, the fixed support seat (10-1) is inserted into the opening position of the steering bracket (10-2), the head and tail ends of the tilt shaft (10-4) are respectively fixedly connected to the side walls corresponding to the steering bracket (10-2), the steering gear (10-3) drives the tilt shaft (10-4) through the driving gear (10-8) and the driven gear (10-7) to drive the steering bracket (10-2) to rotate; the connecting rod (10-6) is vertically arranged on the side wall on the side opposite to the opening direction of the steering bracket (10-2), and a motor is arranged at the outer end of the connecting rod (10-6), the motor is connected to the blade (10-5) through the blade seat (10-9), and the motor drives the blade (10-5) to rotate through the blade seat (10-9).

4. The multi-flight attitude three-rotor position rudderless aircraft according to claim 3, characterized in that: The blade (10-5) is a single blade or a double blade.

5. The multi-flight attitude three-rotor position rudderless aircraft according to claim 1, characterized in that: Flaps (9) are respectively provided on the rear side edges of the front and rear wings.

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