Rotor craft with multiple rotor wings capable of stretching, retracting and swinging synchronously

Abstract

The utility model discloses a rotor craft with multiple rotors capable of stretching, retracting and swinging synchronously. The rotor craft comprises a shell and a rotor assembly. The rotor wing assembly comprises a rotor wing motor and propeller blades; the propeller blades are fixed on output shafts of the rotor motors; each rotor wing assembly further comprises an outer mounting cylinder and an inner push rod; the outer side wall of the inner end of the outer mounting cylinder is rotationally connected with the shell; the inner push rod penetrates through a center hole of the outer mounting cylinder and forms a cylindrical pair with the outer mounting cylinder; the rotor motors are mounted at the outer ends of the inner push rods; according to the utility model, through a transmission structure in the swing driving assembly, the plurality of rotor assemblies can synchronously swing back and forth, so that the consistency of cooperative control of the plurality of rotor assemblies is improved, and a swing motor is prevented from being independently arranged for each rotor assembly; in addition, a plurality of rotor assemblies are driven by a single motor to perform synchronous telescopic motion through the telescopic driving assembly, so that the stability of the unmanned aerial vehicle in the air and the passing capacity of the unmanned aerial vehicle passing through a narrow space are improved.

Description

Technical Field

[0001] This utility model belongs to the field of aircraft technology, specifically relating to a multi-rotor synchronous telescopic and oscillating rotorcraft. Background Technology

[0002] Rotorcraft, with their unique vertical takeoff and landing and agile maneuverability, have found wide application in numerous fields, including but not limited to emergency rescue, aerial photography and mapping, and civilian logistics delivery. Most conventional rotorcraft have relatively fixed rotor layouts and structures, making it difficult to flexibly adjust them during flight according to different mission requirements and environmental conditions. For example, in complex meteorological environments, such as areas with strong winds or unstable airflow, aircraft need higher stability and wind resistance to ensure flight safety and mission accuracy. However, due to their fixed rotor structure and dimensions, traditional rotorcraft cannot effectively change their aerodynamic shape and force distribution, thus proving inadequate in the face of such harsh environments.

[0003] Furthermore, traditional rotorcraft also need improvement in flight maneuverability. When performing maneuvers such as lateral movement or turning, they often rely on a complex flight control system to precisely regulate the rotational speed and torque of each rotor. This not only places extremely high demands on the control system but also, in some special operating conditions, such as emergency maneuvers requiring rapid response, may not be able to achieve the expected flight attitude adjustments in a timely and accurate manner. With the ever-increasing performance requirements of rotorcraft, there is an urgent need for a rotorcraft that can integrate the extension, retraction, and oscillation capabilities of the rotor structure. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-rotor synchronous telescopic and oscillating rotorcraft.

[0005] This invention provides a multi-rotor synchronous telescopic and oscillating rotorcraft, comprising an outer shell and 2n rotor assemblies; n≥2; the 2n rotor assemblies are divided into n groups of two; the two rotor assemblies in the same group are mounted in opposite directions on both sides of the outer shell; each rotor assembly includes a rotor motor and propeller blades; the propeller blades are fixed on the output shaft of the rotor motor; each rotor assembly also includes an outer mounting cylinder and an inner push rod; the outer side wall of the inner end of the outer mounting cylinder is rotatably connected to the outer shell; the inner push rod passes through the central hole of the outer mounting cylinder and forms a cylindrical pair with the outer mounting cylinder; the rotor motor is mounted on the outer end of the inner push rod; the rotorcraft also includes a telescopic drive assembly and an oscillation drive assembly installed in the outer shell; the telescopic drive assembly is used to drive the inner push rod of the 2n rotor assemblies to slide along the axial direction of the outer mounting cylinder; the oscillation drive assembly is used to drive the outer mounting cylinder of the 2n rotor assemblies to rotate around its own axis.

[0006] Preferably, the oscillating drive assembly includes a first power output assembly and two transmission output wheel sets; the two transmission output wheel sets are respectively installed on both sides of the inner cavity of the housing; each transmission output wheel set includes n oscillating gears and n-1 first reversing gears arranged alternately; the 2n oscillating gears in the two transmission output wheel sets are respectively fixed on the outer mounting cylinders of 2n rotor assemblies; the n oscillating gears in the same transmission output wheel set correspond to the n rotor assemblies on the same side of the housing; the first reversing gear is rotatably connected to the inner cavity of the housing and meshes with the two adjacent oscillating gears; the first power output assembly is used to drive the two transmission output wheel sets to move synchronously.

[0007] Preferably, the first power output assembly includes a swing motor, a third wheel axle, and two second driven gears; the swing motor is installed inside the housing; the third wheel axle is rotatably connected to the inner cavity of the housing; the two second driven gears are fixed on the third wheel axle; the two second driven gears mesh with the swing gear or the first reversing gear in the two transmission output wheel sets respectively.

[0008] Preferably, the first power output assembly further includes a first driving gear, a first driven gear, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a first wheel shaft, and a second wheel shaft.

[0009] Preferably, the first driving gear is fixed on the output shaft of the oscillating motor; the first and second wheel shafts are rotatably connected to the inner cavity of the housing; the first driven gear and the first bevel gear are both fixed on the first wheel shaft; the second and third bevel gears are both fixed on the second wheel shaft; the fourth bevel gear is fixed on the third wheel shaft; the fourth bevel gear is located between the two second driven gears; the first driving gear meshes with the first driven gear; the first bevel gear meshes with the second bevel gear; and the third bevel gear meshes with the fourth bevel gear.

[0010] Preferably, the telescopic drive assembly includes a second power output assembly, a central rotating shaft, and three bidirectional telescopic transmission assemblies; the central rotating shaft is rotatably connected to the inner cavity of the outer shell and is driven to rotate by the second power output assembly; the n bidirectional telescopic transmission assemblies correspond to n sets of rotor assemblies respectively; the bidirectional telescopic transmission assembly includes a bidirectional crank and two connecting rods; the middle part of the bidirectional crank is fixed to the central rotating shaft; the two ends of the bidirectional crank and the inner ends of the two connecting rods respectively form a revolute joint; the outer ends of the two connecting rods and the inner ends of the inner push rods in the corresponding two rotor assemblies of the same group respectively form a spherical joint.

[0011] Preferably, the second power output assembly includes a telescopic motor, a fifth bevel gear, a sixth bevel gear, a fourth axle, a worm, and a worm wheel; the telescopic motor is installed inside the housing; the fourth axle is rotatably connected to the inner cavity of the housing; the fifth bevel gear is fixed to the output shaft of the telescopic motor; the sixth bevel gear and the worm are both fixed to the fourth axle; the worm wheel is fixed to the central rotating shaft; the fifth bevel gear meshes with the sixth bevel gear; and the worm meshes with the worm wheel.

[0012] Preferably, the bidirectional cranks in all bidirectional telescopic transmission components are aligned with each other.

[0013] Preferably, the number of rotor assemblies is four or six.

[0014] Preferably, the outer side wall of the inner end of the outer mounting cylinder is connected to the mounting hole on the outer shell by a bearing.

[0015] The beneficial effects of this utility model are:

[0016] This invention enables multiple rotor components to swing back and forth synchronously through the transmission structure in the swing drive assembly, thereby improving the consistency of multi-rotor component coordinated control and avoiding the need to set up a separate swing motor for each rotor component, thus reducing the cost of multi-rotor aircraft. In addition, this invention improves the stability of unmanned aerial vehicles in the air and their ability to pass through narrow spaces by using a single motor to drive multiple rotor components to perform synchronous telescopic movements through the telescopic drive assembly. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the internal structure of the present invention;

[0019] Figure 3 This is a schematic diagram of the swing drive assembly in this utility model;

[0020] Figure 4 This is a schematic diagram of the telescopic drive assembly in this utility model;

[0021] Reference numerals: 1. Outer shell; 2. Rotor assembly; 2-1. Outer mounting cylinder; 2-2. Inner push rod; 2-3. Rotor motor; 2-4. Propeller blade; 3. Oscillating drive assembly; 3-1. Oscillating gear; 3-2. First reversing gear; 3-3. Oscillating motor; 3-4. First driving gear; 3-5. First driven gear; 3-6. First bevel gear; 3-7. Second bevel gear; 3-8. Third bevel gear; 3-9. Fourth bevel gear; 3-10. Third axle; 3-11. Second driven gear; 4. Telescopic drive assembly; 4-1. Central shaft; 4-2. Bidirectional crank; 4-3. Connecting rod; 4-4. Telescopic motor; 4-5. Fifth bevel gear; 4-6. Sixth bevel gear; 4-7. Fourth axle; 4-8. Worm gear; 4-9. Worm wheel; 4-10. Slider. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings.

[0023] Example 1

[0024] like Figure 1 and Figure 2 As shown, a multi-rotor synchronous telescopic and oscillating rotorcraft includes an outer shell 1, six telescopic and oscillating rotor assemblies 2, a telescopic drive assembly 4, and an oscillation drive assembly 3. The six rotor assemblies 2 are divided into three groups of two. The axes of the two rotor assemblies 2 in the same group coincide and are installed in opposite directions. The telescopic drive assembly 4 drives the six rotor assemblies 2 to perform synchronous telescopic movements. The oscillation drive assembly 3 drives the six rotor assemblies 2 to perform synchronous oscillations.

[0025] The rotor assembly 2 includes an outer mounting cylinder 2-1, an inner push rod 2-2, a rotor motor 2-3, and a propeller blade 2-4. The outer wall of the inner end of the outer mounting cylinder 2-1 is rotatably connected to the mounting hole on the outer casing 1 via a bearing. The inner push rod 2-2 passes through the central hole of the outer mounting cylinder 2-1, is coaxial with the outer mounting cylinder 2-1, and forms a sliding pair with the outer mounting cylinder 2-1 via a slider 4-10, allowing the inner push rod 2-2 to slide along the axial direction of the outer mounting cylinder 2-1 and rotate together with it. The rotor motor 2-3 is located outside the mounting cylinder and is fixed to the outer end of the inner push rod 2-2. The output shaft axis of the rotor motor 2-3 is perpendicular to the sliding direction of the inner push rod 2-2. The propeller blade 2-4 is fixed to the output shaft of the rotor motor 2-3.

[0026] like Figure 3As shown, the oscillating drive assembly 3 includes a first power output assembly and two transmission output wheel sets. The two transmission output wheel sets are respectively mounted on both sides of the inner cavity of the outer casing 1. Each transmission output wheel set includes three oscillating gears 3-1 arranged alternately and two first reversing gears 3-2. The three oscillating gears 3-1 in the same transmission output wheel set correspond to the three rotor assemblies 2 on the same side of the outer casing 1; the six oscillating gears 3-1 in the two transmission output wheel sets are respectively fixed to the inner ends of the outer mounting cylinders 2-1 of the six rotor assemblies 2; in the same transmission output wheel set, the first reversing gear 3-2 is rotatably connected to the inner cavity of the outer casing 1 and meshes with its two adjacent oscillating gears 3-1. This allows the three oscillating gears 3-1 in the same transmission output wheel set to rotate synchronously.

[0027] The first power output assembly is used to drive the two transmission output wheel sets to move synchronously. The first power output assembly includes a swing motor 3-3, a first driving gear 3-4, a first driven gear 3-5, a first bevel gear 3-6, a second bevel gear 3-7, a third bevel gear 3-8, a fourth bevel gear 3-9, a first axle, a second axle, a third axle 3-10, and two second driven gears 3-11. The swing motor 3-3 is fixed at the middle position of the inner cavity end of the outer casing 1. The first driving gear 3-4 is fixed to the output shaft of the swing motor 3-3. The first axle, second axle, and third axle 3-10 are all rotatably connected to the inner cavity of the outer casing 1. The first driven gear 3-5 and the first bevel gear 3-6 are both fixed to the first axle. The second bevel gear 3-7 and the third bevel gear 3-8 are respectively fixed to both ends of the second axle. The fourth bevel gear 3-9 and the two second driven gears 3-11 are all fixed to the third axle 3-10. The fourth bevel gear 3-9 is located between the two second driven gears 3-11. The first driving gear 3-4 meshes with the first driven gear 3-5; the first bevel gear 3-6 meshes with the second bevel gear 3-7; and the third bevel gear 3-8 meshes with the fourth bevel gear 3-9. The two second driven gears 3-11 mesh with the oscillating gears 3-1 arranged at the ends of the two transmission output gear sets, respectively.

[0028] like Figure 4As shown, the telescopic drive assembly 4 includes a second power output assembly, a central rotating shaft 4-1, and three bidirectional telescopic transmission assemblies. The two ends of the central rotating shaft 4-1 are rotatably connected to the center of the inner cavity of the outer shell 1 via bearings, with its axis arranged along the length of the outer shell 1. The three bidirectional telescopic transmission assemblies correspond to the three sets of rotor assemblies 2, respectively; each bidirectional telescopic transmission assembly includes a bidirectional crank 4-2 and two connecting rods 4-3. The middle part of the bidirectional crank 4-2 is fixed to the central rotating shaft 4-1. The two ends of the bidirectional crank 4-2 are rotatably connected to the inner ends of the two connecting rods 4-3, respectively. The outer ends of the two connecting rods 4-3 and the inner ends of the inner push rods 2-2 in the corresponding two rotor assemblies 2 form spherical pairs via ball joints, thereby preventing the connecting rods 4-3 from constraining the rotation of the push rods 2-2 around their axes. The bidirectional cranks 4-2 in the three bidirectional telescopic transmission assemblies are aligned with each other.

[0029] Thus, the rotation of the central shaft 4-1 can drive the six rotor components 2 to extend outward or shorten inward, thereby changing the width of the rotorcraft. This allows the rotorcraft provided in this embodiment to both increase its width to improve its stability in the air and its wind and impact resistance, and to decrease its width to pass through narrow spaces such as culverts.

[0030] The second power output assembly, used to drive the central rotating shaft 4-1, includes a telescopic motor 4-4, a fifth bevel gear 4-5, a sixth bevel gear 4-6, a fourth axle 4-7, a worm gear 4-8, and a worm wheel 4-9. The telescopic motor 4-4 is fixed within the inner cavity. The fourth axle 4-7 is rotatably connected to the inner cavity of the outer casing 1; the fifth bevel gear 4-5 is fixed to the output shaft of the telescopic motor 4-4. The sixth bevel gear 4-6 and the worm gear 4-8 are both fixed to the fourth axle 4-7. The worm wheel 4-9 is fixed to the central rotating shaft 4-1. The fifth bevel gear 4-5 meshes with the sixth bevel gear 4-6; the worm gear 4-8 meshes with the worm wheel 4-9.

[0031] In the second power output assembly, the rotation output by the telescopic motor 4-4 is transmitted sequentially through the fifth bevel gear 4-5, the sixth bevel gear 4-6, the fourth axle 4-7, the worm gear 4-8, and the worm wheel 4-9, driving the central shaft 4-1 to rotate, thereby causing the rotor assembly 2 to extend or retract. Simultaneously, this embodiment utilizes the unidirectional transmission characteristic between the worm gear 4-8 and the worm wheel 4-9 to lock the length of the rotor assembly 2 when the telescopic motor 4-4 is not outputting rotation.

[0032] The working principle of this utility model is as follows:

[0033] The rotor motors 2-3 in the six rotor assemblies 2 drive the propeller blades 2-4 to rotate, generating lift and propelling the rotorcraft to take off. In the air, the first power output assembly drives the outer mounting cylinders 2-1 in the six rotor assemblies 2 to swing forward or backward synchronously through the six oscillating gears 3-1, so that the rotational thrust of the six blades generates a lateral component, which drives the rotorcraft to move laterally.

[0034] When the stability of the rotorcraft is insufficient, the second power output component drives the six rotor components 2 to extend synchronously through the central rotating shaft 4-1, thereby improving the stability of the rotorcraft.

[0035] When the rotorcraft needs to pass through a narrow space, the second power output component drives the six rotor components 2 to shorten synchronously through the central rotating shaft 4-1, thereby reducing the overall width of the rotorcraft.

[0036] Example 2

[0037] A multi-rotor synchronous telescopic oscillating rotorcraft, the difference between this embodiment and Embodiment 1 is that: the number of rotor assemblies 2 is four; the propeller blades 2-4 in the four rotor assemblies 2 are arranged in a rectangular pattern. Each of the two transmission output wheel sets of the oscillation drive assembly 3 includes only two oscillation gears 3-1 and one first reversing gear 3-2. The telescopic drive assembly 4 includes only two bidirectional telescopic transmission assemblies.

Claims

1. A multi-rotor synchronous telescopic oscillating rotorcraft, comprising an outer shell (1) and 2n rotor assemblies (2); n≥2; the 2n rotor assemblies (2) are divided into n groups of two; two rotor assemblies (2) in the same group are mounted in opposite directions on both sides of the outer shell (1); the rotor assembly (2) includes a rotor motor (2-3) and a propeller blade (2-4); the propeller blade (2-4) is fixed on the output shaft of the rotor motor (2-3); characterized in that: The rotor assembly (2) further includes an outer mounting cylinder (2-1) and an inner push rod (2-2); the outer side wall of the inner end of the outer mounting cylinder (2-1) is rotatably connected to the outer shell (1); the inner push rod (2-2) passes through the central hole of the outer mounting cylinder (2-1) and forms a cylindrical pair with the outer mounting cylinder (2-1); the rotor motor (2-3) is installed at the outer end of the inner push rod (2-2); the rotorcraft further includes a telescopic drive assembly (4) and a swing drive assembly (3) installed in the outer shell (1); the telescopic drive assembly (4) is used to drive the inner push rod (2-2) in the 2n rotor assemblies (2) to slide along the axial direction of the outer mounting cylinder (2-1); the swing drive assembly (3) is used to drive the outer mounting cylinder (2-1) in the 2n rotor assemblies (2) to rotate around its own axis.

2. The multi-rotor synchronous telescopic and oscillating rotorcraft according to claim 1, characterized in that: The swing drive assembly (3) includes a first power output assembly and two transmission output wheel sets; the two transmission output wheel sets are respectively installed on both sides of the inner cavity of the outer shell (1); the same transmission output wheel set includes n swing gears (3-1) and n-1 first reversing gears (3-2) arranged alternately; the 2n swing gears (3-1) in the two transmission output wheel sets are respectively fixed on the outer mounting cylinder (2-1) of the 2n rotor assemblies (2); the n swing gears (3-1) in the same transmission output wheel set correspond to the n rotor assemblies (2) on the same side of the outer shell (1); the first reversing gear (3-2) is rotatably connected to the inner cavity of the outer shell (1) and meshes with the two adjacent swing gears (3-1); the first power output assembly is used to drive the two transmission output wheel sets to move synchronously.

3. A multi-rotor synchronous telescopic and oscillating rotorcraft according to claim 2, characterized in that: The first power output assembly includes a swing motor (3-3), a third wheel axle (3-10), and two second driven gears (3-11); the swing motor (3-3) is installed inside the housing (1); the third wheel axle (3-10) is rotatably connected to the inner cavity of the housing (1); the two second driven gears (3-11) are fixed on the third wheel axle (3-10); the two second driven gears (3-11) mesh with the swing gear (3-1) or the first reversing gear (3-2) in the two transmission output wheel sets, respectively.

4. A multi-rotor synchronous telescopic and oscillating rotorcraft according to claim 3, characterized in that: The first power output component further includes a first driving gear (3-4), a first driven gear (3-5), a first bevel gear (3-6), a second bevel gear (3-7), a third bevel gear (3-8), a fourth bevel gear (3-9), a first wheel shaft, and a second wheel shaft.

5. A multi-rotor synchronous telescopic and oscillating rotorcraft according to claim 4, characterized in that: The first driving gear (3-4) is fixed on the output shaft of the swing motor (3-3); the first wheel shaft and the second wheel shaft are rotatably connected to the inner cavity of the outer casing (1); the first driven gear (3-5) and the first bevel gear (3-6) are both fixed on the first wheel shaft; the second bevel gear (3-7) and the third bevel gear (3-8) are both fixed on the second wheel shaft; the fourth bevel gear (3-9) is fixed on the third wheel shaft (3-10); the fourth bevel gear (3-9) is located between the two second driven gears (3-11); the first driving gear (3-4) meshes with the first driven gear (3-5); the first bevel gear (3-6) meshes with the second bevel gear (3-7); the third bevel gear (3-8) meshes with the fourth bevel gear (3-9).

6. A multi-rotor synchronous telescopic oscillating rotorcraft according to claim 1, characterized in that: The telescopic drive assembly (4) includes a second power output assembly, a central rotating shaft (4-1), and three bidirectional telescopic transmission assemblies. The central rotating shaft (4-1) is rotatably connected to the inner cavity of the outer shell (1) and is driven to rotate by the second power output assembly. The n bidirectional telescopic transmission assemblies correspond to the n sets of rotor assemblies (2). The bidirectional telescopic transmission assembly includes a bidirectional crank (4-2) and two connecting rods (4-3). The middle part of the bidirectional crank (4-2) is fixed to the central rotating shaft (4-1). The two ends of the bidirectional crank (4-2) and the inner ends of the two connecting rods (4-3) respectively form a rotating pair. The outer ends of the two connecting rods (4-3) and the inner ends of the inner push rods (2-2) in the corresponding two rotor assemblies (2) respectively form a spherical pair.

7. A multi-rotor synchronous telescopic and oscillating rotorcraft according to claim 6, characterized in that: The second power output assembly includes a telescopic motor (4-4), a fifth bevel gear (4-5), a sixth bevel gear (4-6), a fourth axle (4-7), a worm (4-8), and a worm wheel (4-9); the telescopic motor (4-4) is installed inside the housing (1); the fourth axle (4-7) is rotatably connected to the inner cavity of the housing (1); the fifth bevel gear (4-5) is fixed on the output shaft of the telescopic motor (4-4); the sixth bevel gear (4-6) and the worm (4-8) are both fixed on the fourth axle (4-7); the worm wheel (4-9) is fixed on the central rotating shaft (4-1); the fifth bevel gear (4-5) meshes with the sixth bevel gear (4-6); the worm (4-8) meshes with the worm wheel (4-9).

8. A multi-rotor synchronous telescopic and oscillating rotorcraft according to claim 6, characterized in that: The bidirectional cranks (4-2) in all bidirectional telescopic drive assemblies are aligned with each other.

9. A multi-rotor synchronous telescopic oscillating rotorcraft according to claim 1, characterized in that: The number of rotor assemblies (2) is four or six.

10. A multi-rotor synchronous telescopic oscillating rotorcraft according to claim 1, characterized in that: The outer side wall of the inner end of the outer mounting cylinder (2-1) is connected to the mounting hole on the outer shell (1) by a bearing.

Images