阅读说明：本技术 重心恒定的多旋翼飞行器 (Multi-rotor aircraft with constant gravity center ) 是由 黄学禹 于 2021-08-05 设计创作，主要内容包括：本发明公开了一种重心恒定的多旋翼飞行器,包括支架盘,支架盘上均匀设置有若干螺旋桨及飞行电机；载荷仓,设置在支架盘下方；连接件,连接支架盘和载荷仓,连接件和支架盘之间的连接为活动连接；多旋翼飞行器在前飞或者制动时,支架盘通过与连接件的活动连接进入倾斜状态,使支架盘的重心和载荷仓的重心保持在同一垂直线上。本实施例中连接件和支架盘之间的连接为活动连接,使支架盘倾斜时,不影响其重心位置,支架盘的重心和载荷仓的重心始终保持在同一垂直线上,不会产生翻转力矩,保证飞行的顺利进行,还能进行较快的加速和减速操作,而且还提高了飞行电机的能效,大大提高多旋翼飞行器的续航性。(The invention discloses a multi-rotor aircraft with a constant gravity center, which comprises a support plate, wherein a plurality of propellers and flight motors are uniformly arranged on the support plate; the load bin is arranged below the support plate; the connecting piece is connected with the support plate and the load bin, and the connecting piece is movably connected with the support plate; when the multi-rotor aircraft flies forwards or brakes, the bracket disc enters an inclined state through the movable connection with the connecting piece, so that the gravity center of the bracket disc and the gravity center of the loading bin are kept on the same vertical line. The connection between connecting piece and the support plate is swing joint in this embodiment, when making the support plate slope, does not influence its focus position, and the focus of support plate and the focus in load storehouse remain on same vertical line all the time, can not produce turning moment, guarantees going on smoothly of flight, can also carry out faster acceleration and deceleration operation, but also improved flying motor's efficiency, improved many rotor crafts's continuation of journey nature greatly.)

1. A multi-rotor aircraft having a constant center of gravity, comprising:

the support disc is uniformly provided with a plurality of propellers and flying motors for respectively driving the propellers to rotate;

the load bin is arranged below the support plate;

the connecting piece is connected with the support disc and the load bin, and the connecting piece is movably connected with the support disc;

when the multi-rotor aircraft flies forwards or brakes, the bracket disc enters an inclined state through the movable connection with the connecting piece, so that the gravity center of the bracket disc and the gravity center of the loading bin are kept on the same vertical line.

2. A multi-rotor aircraft according to claim 1, wherein there is one of the connectors located on a vertical line between the centre of gravity of the pylon disc and the centre of gravity of the payload bay.

3. The multi-rotor aerial vehicle of claim 2, wherein the cradle disk and the connector are movably connected by a hinge.

4. A multi-rotor aircraft according to claim 3, wherein the cradle disk is provided with trunnions, and the top of the link is provided with a central shaft which mates with the trunnions.

5. The multi-rotor aerial vehicle of claim 2, wherein the spider disc and the link are movably connected by a universal joint.

6. A multi-rotor aircraft according to claim 5, wherein the attachment elements are provided with first attachment elements in the form of spheres at the top of the attachment elements, and wherein the carrier plate is provided with second attachment elements for cooperation with the first attachment elements.

7. A multi-rotor aerial vehicle according to any one of claims 3 to 6, wherein at least one tilt drive is provided on the spider disc.

8. A multi-rotor aircraft according to claim 1, wherein there are a plurality of connectors evenly distributed about a vertical line on which the centre of gravity of the pylon disc and the centre of gravity of the payload bay lie.

9. The multi-rotor aerial vehicle of claim 8, wherein the link is a controllable telescoping assembly.

Technical Field

The invention relates to the field of aircrafts, in particular to a multi-rotor aircraft with a constant gravity center.

Background

Many rotor crafts have flight steadily, good performance such as control easily, and present wide application has been in fields such as taking photo by plane, plant protection, patrolling and examining, search and rescue, commodity circulation.

The four-rotor aircraft shown in fig. 1 is one of the most commonly used aircraft, and four sets of flight motors 120 and propellers 110 are mounted on a support plate 100, and by controlling the mutual cooperation between the rotation speed and the rotation direction of the four sets of propellers 110, the flight actions of the aircraft, such as take-off, hovering, forward flying, braking, level turning, and the like, are realized. A load chamber 200 is rigidly mounted below the support tray 100. The load compartment 200 carries the control device of the aircraft. The load compartment 200 may also carry various functional systems for performing tasks, such as carrying pesticides and spraying devices for plant protection applications, or carrying cargo for logistics.

When the four-rotor aircraft takes off, hovers and lands, the support disc 100 is in a horizontal state, and the four groups of propellers 110 generate vertical upward pulling force; when the four-rotor aircraft flies forward or brakes, the bracket disc 100 is in an inclined state, so that a component force in the horizontal direction is generated to push the four-rotor aircraft to advance or brake at a reduced speed. However, the load chambers 200 of the cradle tray 100 of the conventional quad-rotor aircraft are rigidly connected, and when the quad-rotor aircraft flies forward or brakes, the cradle tray 100 drives the load chambers 200 to tilt, as shown in fig. 2, so that the load gravity G and the cradle tray gravity G are caused to rotate₀Not in the same line, thereby generating a turning moment. To balance this moment, the tension of the rear propeller 110 needs to be increased while the tension of the front propeller 110 needs to be decreased, and when the inclination angle is increased to a certain degree, the rear propeller 110 will reach the power limit and cannot provide enough tension, so that the system is out of balance, and at this time, the aircraft will crash due to the loss of the attitude adjustment capability. Because the aircraft is influenced by factors such as airflow and the like during flying, the dynamic load fluctuates, the dynamic load is far larger than the static load, and once the fluctuation exceeds the power limit, the balance is lost; the rotation of the flight motor 120 and the propeller 110 of the aircraft is inertial, and cannot respond to dynamic load change immediately, if the system works in a state that the front propeller 110 and the rear propeller 110 are extremely unbalanced, the adjusting capability is lower, and if the system works in a state that the front propeller and the rear propeller are slightly unbalanced, the aircraft enters an unbalanced state and cannot be balanced and crashed. Another problem with quad-rotor aircraft is that flight motors 120 and propellers 110 are inefficient at high power operation, and the more power, the less efficient, and therefore, when forward flight or braking is performed,the rear propeller 110 will soon enter an inefficient working state, consuming a lot of energy but not producing sufficient pulling force.

As can be seen from an analysis of the example of a quad-rotor aircraft shown in fig. 1 and 2, the overturning moment generated by the payload bay 200 in flight is very detrimental. Therefore, the multi-rotor aircraft rigidly provided with the loading bin 200 can only maintain the flight attitude with a small inclination angle, and the component force of the pulling force in the horizontal direction is small, so that the multi-rotor aircraft can only fly at a low speed. The energy (battery/fuel) of the multi-rotor aircraft is limited, most of the energy is used for lifting the self weight to keep the altitude, the low flying speed greatly reduces the total amount of tasks such as voyage or working area, and the energy efficiency ratio is low. In addition, the aircraft must be carefully and slowly accelerated or decelerated, and a slightly faster action may cause the aircraft to enter an unbalanced state and be easily crashed.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides the multi-rotor aircraft with the constant gravity center, which can keep the gravity center constant during forward flight or braking, cannot generate overturning moment and ensures smooth flight.

A multi-rotor aircraft with a constant center of gravity according to an embodiment of a first aspect of the invention comprises: the support disc is uniformly provided with a plurality of propellers and flying motors for respectively driving the propellers to rotate; the load bin is arranged below the support plate; the connecting piece is connected with the support disc and the load bin, and the connecting piece is movably connected with the support disc; when the multi-rotor aircraft flies forwards or brakes, the bracket disc enters an inclined state through the movable connection with the connecting piece, so that the gravity center of the bracket disc and the gravity center of the loading bin are kept on the same vertical line.

The multi-rotor aircraft with the constant gravity center according to the embodiment of the first aspect of the invention has at least the following beneficial effects: this embodiment includes the connecting piece, because the connection between connecting piece and the support plate is swing joint, when making the support plate slope, does not influence its focus position, and the focus of support plate and the focus in load storehouse remain throughout on same perpendicular line, can not produce turning moment, guarantees going on smoothly of flight, can also carry out faster acceleration and speed reduction operation, but also improved flying motor's efficiency, improved many rotor crafts's continuation of the journey nature greatly.

According to the multi-rotor aircraft in the first aspect of the invention, the connecting piece is provided with one, and the connecting piece is located on the vertical line where the gravity center of the bracket disc and the gravity center of the loading bin are located.

According to the multi-rotor aircraft disclosed by the first aspect of the invention, the bracket disc and the connecting piece are movably connected through the hinge, the hinge is simple and reliable in structure, the position of the center of gravity of the bracket disc is rotatably connected to the connecting piece through the hinge, the bracket disc enters an inclined state after rotating, the position of the center of gravity cannot be changed, and the center of gravity of the bracket disc and the center of gravity of the load bin are kept on the same vertical line.

According to the multi-rotor aircraft of the first aspect of the invention, the bracket plate is provided with trunnions, and the top of the connecting piece is provided with a middle shaft matched with the trunnions. The trunnion and the middle shaft are mutually matched to form a hinge convenient to mount.

According to the multi-rotor aircraft of the first aspect of the present invention, the pylon disc and the link are movably connected by a universal joint. Can only carry out the slope of two directions (fly before and brake) through hinged joint, contrast hinged joint connects through the universal joint, can make the support dish incline towards arbitrary direction, no matter advance, the braking or the level turns round, all can adjust and control through the slope of support dish.

According to the multi-rotor aircraft of the first aspect of the invention, the spherical first connecting piece is arranged on the top of the connecting piece, and the second connecting piece matched with the first connecting piece is arranged on the bracket disc. Further, the second connecting piece is preferably an arc-shaped groove matched with the first connecting piece, and the first connecting piece and the second connecting piece form a universal joint together.

According to the multi-rotor aircraft of the first aspect of the invention, at least one tilt driving device is provided on the pylon disk.

According to the multi-rotor aircraft of the first aspect of the invention, the connecting members are provided in plurality, and the connecting members are uniformly distributed around a vertical line on which the center of gravity of the pylon disc and the center of gravity of the payload bay are located.

According to the multi-rotor aircraft of the first aspect of the invention, the link is a controllable telescopic assembly.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic structural diagram of a prior art quad-rotor aircraft;

FIG. 2 is an analysis of the force of gravity experienced by the quad-rotor aircraft of FIG. 1 during forward flight/braking;

FIG. 3 is a schematic representation of a first embodiment of a multi-rotor aircraft configuration provided by the present invention;

FIG. 4 is an analysis of the force of gravity experienced by the multi-rotor aircraft of FIG. 3 during forward flight/braking;

FIG. 5 is a schematic representation of a second embodiment of a multi-rotor aircraft according to the present invention;

FIG. 6 is a schematic structural view of the multi-rotor aircraft of FIG. 5 in forward flight;

figure 7 is a schematic illustration of the multi-rotor aircraft of figure 5 in a braking configuration.

The reference numbers illustrate:

the support plate 100, the propeller 110, the flight motor 120, the load bin 200, the connecting piece 300, the hinge 310 and the tilt driving device 400.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, several means are one or more, and more means are two or more. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 3 to 4, the present invention provides a first embodiment of a multi-rotor aircraft with a constant center of gravity, which includes a pylon disc 100 and a payload bay 200, wherein the pylon disc 100 and the payload bay 200 are connected by a connector 300. The bracket tray 100 is uniformly provided with a plurality of groups of propellers 110 and flying motors 120. The load compartment 200 is disposed under the support frame 100, and is used for carrying control devices and various functional systems of the aircraft, and the load compartment 200 may also be used for carrying cargo. In this embodiment, one connecting member 300 is provided, and the connecting member 300 is located on a vertical line where the center of gravity of the holder tray 100 and the center of gravity of the loading compartment 200 are located. The lower part of the connecting piece 300 is fixedly connected with the top of the loading bin 200, and the connecting piece 300 departs from the upper part of the loading bin 200 and is movably connected with the bracket tray 100 through a hinge 310. The hinge 310 includes a trunnion fixedly disposed on the bracket tray 100, and a middle shaft disposed on the top of the connecting member 300, and the middle shaft and the trunnion are cooperatively mounted to form the hinge 310. The holder tray 100 is installed and then rotated about the hinge 310.

It is easy to think that when the aircraft flies forward or brakes, in order to drive the bracket plate 100 to rotate, a speed reduction motor may be further provided, and the speed reduction motor is preferably provided on the bracket plate 100, and an output shaft of the speed reduction motor is connected with the hinge 310 and drives the hinge 310 to rotate, thereby driving the bracket plate 100 to rotate for tilting. Further, in order to detect the inclination angle of the support frame plate 100, a gyroscope and an inclination angle sensor are further arranged on the support frame plate 100, and the gyroscope and the inclination angle sensor are connected with a control device of the aircraft. When the aircraft advances or decelerates and brakes, the control device of the aircraft controls the deceleration motor to rotate forwards or backwards, the rotating direction and angle of the support disc 100 can be adjusted, and the gyroscope and the inclination angle sensor detect the rotating angle of the support disc 100 for feedback and adjustment. In addition, a limit structure may be provided in the hinge 310 to limit a rotation angle range of the holder tray 100.

As shown in fig. 3, when the multi-rotor aircraft with a constant center of gravity of the embodiment takes off, hovers, and lands, the cradle disk 100 is in a horizontal state, and the four sets of propellers 110 all generate a vertical upward pulling force. As shown in fig. 4, when the aircraft flies forward or brakes, the deceleration motor is started, and the support plate 100 rotates around the hinge 310 to enter an inclined state, so as to generate a component force in the horizontal direction to push the aircraft to advance or brake at a deceleration speed; in the process of forward or deceleration braking of the aircraft, due to the movable connection between the connecting piece 300 and the support disc 100, after the support disc 100 is inclined, the gravity center of the support disc 100 and the gravity center of the load bin 200 are not changed and are kept on the same vertical line, so that the overturning moment is not generated, smooth flight is ensured, rapid acceleration and deceleration operation can be performed, the energy efficiency of the flight motor 120 is improved, and the cruising ability of the multi-rotor aircraft is greatly improved.

Referring to fig. 5 to 7, a second embodiment of the present invention provides a multi-rotor aircraft structure substantially the same as the multi-rotor aircraft structure of the first embodiment. Specifically, the bracket tray 100 and the loading bin 200 are included, and the bracket tray 100 and the loading bin 200 are connected through a connecting piece 300. The bracket tray 100 is also uniformly provided with a plurality of groups of propellers 110 and flying motors 120. The load compartment 200 is disposed below the rack tray 100. The connecting member 300 is provided with one, and the connecting member 300 is positioned on a vertical line where the center of gravity of the holder tray 100 and the center of gravity of the loading compartment 200 are located. The lower part of the connecting piece 300 is fixedly connected with the top of the loading bin 200, and the connecting piece 300 departs from the upper part of the loading bin 200 and is movably connected with the bracket tray 100 through a hinge 310. The hinge 310 includes a trunnion fixedly disposed on the bracket tray 100, and a middle shaft disposed on the top of the connecting member 300, and the middle shaft and the trunnion are cooperatively mounted to form the hinge 310. The holder tray 100 is installed and then rotated about the hinge 310. The support plate 100 is also provided with a gyroscope and a tilt sensor.

The present embodiment is different from the first embodiment in that a tilt driving means 400 is provided between the holder tray 100 and the load compartment 200 in order to drive the holder tray 100 to rotate. The tilt drive 400 may be a cylinder or a cylinder and is controlled by an electrically controlled valve which is controlled by the control device of the aircraft. One end of the tilting driving device 400 is fixed on the top of the loading bin 200, and a piston rod of the tilting driving device 400 is connected with the support plate 100 and pushes the support plate 100 to rotate and tilt. Referring to fig. 5, in detail, a piston rod of the tilt driving apparatus 400 is connected to one end of the right side of the bracket tray 100.

Further, in order to improve the controllability of the tilt driving apparatus 400, a damper bumper may be provided to the tilt driving apparatus 400.

As shown in fig. 5, when the multi-rotor aircraft with a constant center of gravity of this embodiment takes off, hovers, and lands, the piston rod of the tilt driving device 400 is located at the middle position, the support plate 100 is in a horizontal state, and the four groups of propellers 110 all generate a vertical upward pulling force. As shown in fig. 6, when the aircraft flies forward, the piston rod of the tilt driving device 400 retracts to drive the support plate 100 to rotate clockwise around the hinge 310, and enter a tilted state, so as to generate a component force in the horizontal direction to push the aircraft to advance. As shown in fig. 7, when the aircraft is braked, the piston rod of the tilt driving device 400 extends forward to drive the support plate 100 to rotate counterclockwise around the hinge 310 as an axis and enter a tilted state, so as to generate a component force in the horizontal direction to decelerate and brake the aircraft. In the process of forward or deceleration braking of the aircraft, due to the movable connection between the connecting piece 300 and the support disc 100, after the support disc 100 is inclined, the gravity center of the support disc 100 and the gravity center of the load bin 200 are not changed and are kept on the same vertical line, so that the overturning moment is not generated, smooth flight is ensured, rapid acceleration and deceleration operation can be performed, the energy efficiency of the flight motor 120 is improved, and the cruising ability of the multi-rotor aircraft is greatly improved.

In both the first and second embodiments of the present invention, the connecting member 300 is in the form of a hinge 310 movably connected to the holder plate 100. It is easy to think that in other embodiments, the connecting member 300 can also be movably connected with the support plate 100 through a universal joint, specifically, the top of the connecting member 300 is provided with a spherical first connecting member, the support plate 100 is provided with a second connecting member matched with the first connecting member, the second connecting member is preferably an arc-shaped groove, and is better matched with the spherical first connecting member to form the universal joint. Through the connected mode of universal joint, can make the support frame dish 100 toward more directions rotate, can not lead to the skew of focus yet rotating the in-process, the focus of support frame dish 100 and the focus of loading storehouse 200 keep on same vertical line, make the aircraft can not produce turning moment advancing, braking and turn, guarantee going on smoothly of flight.

The invention also provides a third embodiment, and the multi-rotor aircraft with the multiple connecting pieces and the constant gravity center comprises a bracket disc and a load cabin, wherein the bracket disc is connected with the load cabin through the connecting pieces. A plurality of groups of propellers and flying motors are uniformly arranged on the support plate. The bracket disc is also provided with a gyroscope and an inclination angle sensor. The load bin is arranged below the bracket tray. In this embodiment, a plurality of connecting pieces are provided, which are evenly distributed around the vertical line on which the center of gravity of the carrier plate and the center of gravity of the loading compartment are located. Further, preferably 2 to 4 connections are provided, depending on the number and distribution of the sets of propellers and flight motors on the carrier plate. The lower part of the connecting piece is fixedly connected with the top of the load bin, and the connecting piece deviates from the upper part of the load bin and is movably connected with the support plate. In this embodiment, the connecting elements are all controllable telescopic assemblies, controlled by the control device of the aircraft. When the multi-rotor aircraft is provided with 2 connecting pieces, the two connecting pieces are distributed in the front and back direction; when the multi-rotor aircraft takes off, hovers and lands, the two connecting pieces are consistent in length, and the support plate is in a horizontal state; when the multi-rotor aircraft flies forwards, the connecting piece positioned at the front is shortened, and the connecting piece positioned at the rear is extended, so that the support plate tilts, a component force in the horizontal direction is generated, and the aircraft is pushed to advance; when the multi-rotor aircraft brakes, the connecting piece positioned in front extends, and the connecting piece positioned in rear shortens, so that the bracket disc inclines towards the other direction, and the aircraft brakes in a deceleration way.

The invariable many rotor crafts of focus that this scheme provided, through the swing joint between connecting piece and the support dish, when making the support dish slope, do not influence its focus position, the focus of support dish and the focus in load storehouse remain on same vertical line all the time, can not produce turning moment. The current four rotor crafts of contrast, the invariable many rotor crafts of focus that this scheme provided can guarantee going on smoothly of flight, can also carry out very fast acceleration and speed reduction operation, but also improved flying motor's efficiency, improved many rotor crafts's continuation of journey nature greatly.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.