• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a flying vehicle arranged to move by land and to fly characterized in that it comprises one or several engines, a chassis composed of a lower structure and an upper one joined both by bars, an autonomous system of driving and flight based on less in GPS, one or several gyroscopes, one or several accelerometers and a controller card, one or several rotors with at least two propellers each, where in said lower structure the wheels of the flying vehicle are located and said one or more engines, where said one or more motors are arranged to supply energy to said one rotors and where each of said one to several rotors is joined to the upper structure by means of arms. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2706658A1
    申请号:ES201830792
    申请日:2018-07-31
    公开日:2019-03-29
    发明作者:Casanova Ignacio Recarte
    申请人:Casanova Ignacio Recarte；
    IPC主号:
    专利说明:

    [0001]
    [0002] Flying vehicle
    [0003]
    [0004] Field of the invention
    [0005]
    [0006] The invention relates to a vehicle arranged to travel by land and also by air. More specifically it refers to a flying vehicle that can be configured to operate as a road vehicle, such as a car, and also to deploy a set of rotors with which to take off and land vertically and move through the air.
    [0007]
    [0008] BACKGROUND OF THE INVENTION
    [0009]
    [0010] In the state of the art some documents are known that describe land vehicles adapted to be able to fly. Specifically.
    [0011]
    [0012] The patent application US20160207368A1 describes an aircraft that can be raised and landed vertically, having the characteristics and dimensions of a typical road vehicle. When operating on the road, the wheels work with the engine. When the vehicle is configured for flight, propellers are deployed from the storage compartment located on the roof, which are operated by the same engine.
    [0013]
    [0014] The patent application US20180065435A1 shows a flying car, where a set of rotors for vertical lift and thrust propellers are used which are located in the center of the lower frame of the vehicle.
    [0015]
    [0016] There are other proposals, such as the one described in patent document US9045226B2, where an aerial module including one or more rotors is described and which is attached to a land vehicle, giving it the ability to fly.
    [0017]
    [0018] Description of the invention
    [0019]
    [0020] The present invention relates to a flying vehicle (100) characterized arranged to move by land and to fly characterized in that it comprises:
    [0021]
    [0022] - one or several engines (109),
    [0023]
    [0024] - a chassis (105) composed of a lower structure (107) and an upper one (106) both joined by bars (108),
    [0025] - an autonomous driving and flight system based at least on GPS, one or several gyroscopes, one or more accelerometers and a controller card,
    [0026]
    [0027] - one or more rotors (103) with at least two helices (104) each,
    [0028]
    [0029] where in said lower structure (107) the wheels (121) of the flying vehicle (100) and said one or more engines (109) are located,
    [0030]
    [0031] wherein said one or more motors (109) are arranged to supply power to said one several rotors (103),
    [0032]
    [0033] wherein each of said one to several rotors (103) is attached to the upper structure (106) by means of arms (102),
    [0034]
    [0035] where, when the flying vehicle (100) operates in vehicle mode, said helices (104) are folded and said arms (102) with said rotors (103) are also folded, being located on said upper structure (106), below the part top, the roof (101), of the body of the flying vehicle (100),
    [0036]
    [0037] where, when the flying vehicle (100) operates in flying mode, said propellers (104) are unfolded and the arms (102) together with the rotors (103) are deployed out of the upper structure (106) and the upper part of the body for its operation, and
    [0038] wherein each of said arms (102) incorporates an electronic actuator (114) arranged to perform the deployment and / or retraction of said arms (102), rotors (103) and propellers (104) in several phases that cascade, where in each phase the current input to the previous phase and the next phase is canceled, in such a way as to guarantee that the movement is programmed in cascade.
    [0039]
    [0040] Unlike existing solutions, the flying vehicle of the present invention allows great versatility and flexibility. The elements that allow to act in flying mode, that is, arms, rotors and propellers remain folded, retracted in the upper part of the chassis, under the roof, which allows to use the vehicle flying in vehicle mode in a similar way to any other vehicle land.
    [0041]
    [0042] The deployment and retraction system is perfectly controlled and synchronized in such a way that each element remains in its position without manual intervention.
    [0043]
    [0044] On the other hand, both the deployment and retraction operations and the flight operation are electrically powered by the same batteries, or fuel cells, or generator in Gas engine case, that used in the vehicle mode, such that there is a single point or group of power supply.
    [0045]
    [0046] Thanks to the incorporation of elements that facilitate autonomous flight and control systems, the flight is smooth and safe. Even this design allows that, if some rotor stops working, the control can compensate and the flying vehicle can continue to fly safely. As a last resort, a parachute will be thrown out of a small compartment on the roof if the failure is of a greater magnitude also triggered by the controller card
    [0047] These and other advantages are apparent in light of the detailed description of the invention.
    [0048]
    [0049] BRIEF DESCRIPTION OF THE DRAWINGS
    [0050]
    [0051] The foregoing and other advantages and features will be more fully understood from the following detailed description of embodiments, with reference to the following figures, which should be considered in an illustrative and non-limiting manner.
    [0052]
    [0053] Figure 1 shows an example of the chassis of the flying vehicle, where the lower platform, the central area for there is room for the batteries, while there are four tie bars with the upper chassis for housing the arms and propellers.
    [0054]
    [0055] Figure 2 shows the chassis with folded arms and propellers.
    [0056]
    [0057] Figure 3 shows the chassis with the rear arms unfolding.
    [0058]
    [0059] Figure 4 shows the chassis with the front arms unfolding.
    [0060]
    [0061] Figure 5 shows the chassis with the lower propellers unfolding. The motor acts like a servomotor.
    [0062]
    [0063] Figure 6 shows the chassis with intermediate and lower helices unfolding. They have reached the end of the route and the electromagnet inverts the poles and detaches from the neodymium magnet.
    [0064]
    [0065] Figure 7 shows the propellers that turn to start flying. The propellers on each side rotate contrary to the propellers on the other side to avoid the action-reaction effect. In this position the flying car would begin to climb with the necessary revolutions.
    [0066]
    [0067] Figure 8 shows how the rotors rotate forward with respect to the horizon plane to advance the flying vehicle forward during the flight.
    [0068]
    [0069] Figure 9 shows an embodiment of the appearance of the flying vehicle. The model is imaginary, it can have any other aspect. The important thing is that it has a current car appearance. The roof is a little more bulky, is where the whole system of arms and folded propellers is housed.
    [0070]
    [0071] Figure 10 shows the flying vehicle with side doors on the roof opening to free space for the arms when deployed.
    [0072]
    [0073] Figure 11 shows the flying vehicle with the rear arms unfolding.
    [0074]
    [0075] Figure 12 shows the flying vehicle with the front arms unfolding.
    [0076]
    [0077] Figure 13 shows the flying vehicle with the lower propellers deploying. The motor acts like a servomotor.
    [0078]
    [0079] Figure 14 shows the flying vehicle with intermediate and lower propellers unfolding. They have reached the end of the route and the electromagnet inverts the poles and detaches from the neodymium magnet.
    [0080]
    [0081] Figure 15 shows the flying vehicle with the rotating propellers to start flying. The propellers on each side rotate as opposed to the propellers on the other side to avoid the action-reaction effect. In this position the flying vehicle would begin to climb with the necessary revolutions.
    [0082]
    [0083] Figure 16 shows a side view of the flying vehicle with the propellers rotating to start flying. The propellers on each side rotate as opposed to the propellers on the other side to avoid the action-reaction effect. In this position the flying vehicle would begin to climb with the necessary revolutions.
    [0084]
    [0085] Figure 17 shows the flying vehicle with the rotors rotating forward with respect to the horizon plane to advance forward.
    [0086]
    [0087] Figure 18 shows a side view of the flying vehicle with the rotors rotating forward with respect to the horizon plane to advance forward.
    [0088]
    [0089] Figure 19 shows a detail of the folding and unfolding machinery of the arms. With servomotor, gears, shaft with an endless thread, gear fixed to the axis of rotation of the arm, arm and motor with folded propellers.
    [0090]
    [0091] Figure 20 shows another view of the gears of the folding and unfolding machinery of the arms.
    [0092] Figure 21 shows a further view of the gears of the folding and unfolding machinery of the arms.
    [0093]
    [0094] Figure 22 shows the detail of the lower propeller unfolding, when it reaches 120 ° (in case the rotor has two propellers will be 180 °) the lower propeller begins to drag the second propeller through a protrusion that hooks to it. The upper helix is immobile because the electromagnet that moves when creating a magnetic field around it, makes it stick to the neodymium magnet embedded in the tip of the upper helix.
    [0095]
    [0096] Figure 23 shows the detail of the lower helix reaching 240 ° and the intermediate helix reaching 120 °. The motor that now is like a servomotor, when reaching those degrees the servo for the motor and at the same time inverts the current of the electromagnet taking off from the neodymium magnet. Now the electromagnet has moved away from the tip of the propeller.
    [0097]
    [0098] Figure 24 shows the detail of the electromagnet stuck to neodymium magnet embedded in the tip of the upper helix. A laser sensor is located next to the electromagnet. When the propellers are being folded, it detects the upper propeller that is rotating smoothly in the opposite direction to the one of flight and it gives current to the electromagnet so that it moves and sticks to the neodymium magnet, immobilizing it .
    [0099]
    [0100] Figure 25 shows a more enlarged detail of the mechanism of the electromagnet with the neodymium magnet.
    [0101]
    [0102] Figure 26 shows the detail of the rotation mechanism of the rotor driven by a servo motor fixed in the outer opening of the arm.
    [0103]
    [0104] Figure 27 shows the detail of the rotation mechanism of the rotor driven by a servomotor fixed in the outer release of the arm, when it is rotated.
    [0105]
    [0106] Figure 28 shows the detail of the parts of the rotor turning mechanism.
    [0107]
    [0108] Figure 29 shows the details of the rotor motor with rotating shaft and rotary servo motor.
    [0109]
    [0110] Figure 30 shows the detail of the parts of the rotating mechanism of the rotor and its direction of fitting.
    [0111]
    [0112] Figure 31 shows the exploded view of the propellers, bushing, rotor motor, servo motor of the rotor and arm rotation.
    [0113] Figure 32 shows the detail of the hub and inner helix attached to it. Detail of the prominence or protuberance that drags the intermediate helix.
    [0114]
    [0115] Figure 33 shows the top and intermediate helical detail with stop washer screwed to the hub so that the propellers do not slip out of the hub. Detail of the prominences for the intermediate propeller to drag to the superior, also the prominences are seen for when they are folding.
    [0116]
    [0117] Figure 34 shows a bottom view of the detail of the projections or protuberances of the intermediate helix.
    [0118]
    [0119] Figure 35 shows an example of realization of the section of the roof of the flying vehicle seeing the arms and propellers folded.
    [0120]
    [0121] Figure 36 shows an example of embodiment of the section starting from the roof chassis of the flying vehicle, showing the arms and propellers folded.
    [0122]
    [0123] Figure 37 shows a detail of the folding and unfolding machinery of the arms located on the upper part of the chassis of the flying vehicle.
    [0124]
    [0125] Figure 38 shows on the chassis a detail of the folded arms and propellers in a flat drawing.
    [0126]
    [0127] Figure 39 shows a detail of the arms folding and unfolding machinery located on the upper part of the chassis of the flying vehicle in a flat drawing.
    [0128]
    [0129] Detailed description of the invention
    [0130]
    [0131] The elements defined in this detailed description are provided to assist in an overall understanding of the invention. Accordingly, those skilled in the art will recognize that variations and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. In addition, the detailed description of sufficiently known functions and elements are omitted for reasons of clarity and conciseness.
    [0132]
    [0133] The invention relates to a flying vehicle (100) arranged to travel by land and also by air, that is, to be a vehicle that can simultaneously fly and in which people can travel and / or carry goods. The appearance is the same as that of a street vehicle, but with the roof area (101) a little more bulky. In the ceiling (101) is where all the systems of arms (102) and propellers (104) are hidden. This zone can be incorporated in the design of the flying vehicle (100) from the factory or it can be a kind of backpack that is incorporated into a street vehicle, preferably electric, in which the chassis (105) has been reinforced to support said backpack. That is, the arms (102) that connect the rotors (103) and the propellers (104) to the upper structure (106) of the flying vehicle or are already installed as standard, factory, in the flying vehicle or are ready to be installed and uninstall as appropriate.
    [0134]
    [0135] In a preferred embodiment, the flying vehicle (100) is electric or gas combustion.
    [0136] In the case of being an electric flying vehicle this can have the following configurations:
    [0137]
    [0138] • One electric motor per wheel fed by last generation batteries
    [0139]
    [0140] • One electric motor per shaft powered by last generation batteries
    [0141]
    [0142] • An electric motor with transmission, either to the front axle, to the rear axle, or to the two axles, powered by last generation batteries.
    [0143]
    [0144] • One electric motor per wheel fed by one or several fuel cells with hydrogen.
    [0145]
    [0146] • An electric motor per axle powered by one or several fuel cells with hydrogen.
    [0147]
    [0148] • An electric motor with transmission, either to the front axle, to the rear axle, or to the two axles, powered by one or several fuel cells with hydrogen.
    [0149]
    [0150] In all models of the electric flying vehicle (100), the electric, electronic, batteries and fuel cells of the flying vehicle will be used for the flight mode, that is, to operate the vehicle's rotors.
    [0151]
    [0152] When the engine to circulate the flying vehicle (100) is gas can go with transmission either to the front axle, to the rear axle or to the two axles. And it will have an electric generator connected to produce electricity for when it is in flight mode, with enough power so that the vehicle can fly with slack. The gas engine always works, in vehicle mode and in flight mode. Optionally it can also incorporate batteries charged with the generator.
    [0153]
    [0154] Both in vehicle mode and flight mode, the invention incorporates an autonomous driving and flight system with the latest technologies. It will also be possible to drive and fly in a Non-autonomous, manual.
    [0155]
    [0156] These technologies of autonomous flight, mainly for cities and / or places with more congestion of flying vehicles, the autonomous, safe system, can incorporate a GPS in which it is possible to program an address in a digital plane and the vehicle goes directly to said point to a certain height and speed, interacting with a global system in which other possible flying or flying vehicles are taken into account. Although at the time of describing this invention there is no specific regulation in this regard, specific landing and take-off sites that do not interfere with each other within a flight circuit in each city will probably be enabled.
    [0157]
    [0158] In one embodiment, the flying vehicle (100) is composed of a chassis (105) composed of a lower structure (107), with bars (108) that join it to an upper structure (106).
    [0159] In the lower structure (107) are installed the engines (109) of the flying vehicle, the batteries or fuel cells and the wheels (121) of the flying vehicle.
    [0160]
    [0161] This chassis, to minimize the total weight, can be built with lightweight and resistant materials, such as carbon fiber and graphene-based materials.
    [0162]
    [0163] In the upper structure (106) the arms (102) are installed with the propellers (104) that are part of the rotor (103) and which allow the flying vehicle (100) to fly in flying mode. In a preferred embodiment, there are four rotors (103), two front and two rear, each supported by its corresponding arm (102). And each rotor (103) can have at least two helices (104) and preferably three. The position of said helices (103) is folded under the body when the invention operates in vehicle, road mode.
    [0164] The deployment of the arms (102) is done by an electronic actuator with several phases that cascade, where in each phase the current input to the previous phase and the next phase is canceled, in such a way as to guarantee that the movement is the programmed in cascade.
    [0165] Both the arms, as well as the propellers, and even specific parts of the rotors, to minimize the total weight, can be built with light and resistant materials, such as carbon fiber and graphene-based materials.
    [0166]
    [0167] Next, said phases or stages are described:
    [0168]
    [0169] Phase 1: It is an optional phase, where the body at the top (101) has longitudinal doors on the sides (110) of the flying vehicle (100) that rotate on the axis longitudinal upper leaving that area free so that the arms (102) folded under the roof body (101) can be deployed.
    [0170]
    [0171] Stage 2: Each folded back arm (102) rotates on an axle supported by recessed bearings (111) in the upper chassis (106). Each of the arms (102) extends and exits to the outside through a mechanism that includes a metal shaft and resistant with an endless thread (112), moved by gears (113) and by a servomotor (114) powered by the engine (109) and / or batteries of the flying vehicle (100). When it reaches the deployed position the servomotor (114) stops.
    [0172]
    [0173] Stage 3: Each folded front arm (102) rotates on an axle supported by recessed bearings (111) on the upper chassis (106). Each of the arms (102) extends and exits to the outside through a mechanism that contains a metal shaft and resistant with an endless thread (112), moved by gears (113) and by a servomotor (114) powered by the engine (109) and / or batteries of the flying vehicle. When it reaches the deployed position the servomotor (114) stops.
    [0174]
    [0175] Stage 4: The arms (102) deployed in the previous two phases have the helices (104) folded, superposed one on top of the other and in the same direction as the arms (102) in such a way that when they are plagued they do not occupy space. The lower propeller (104) is screwed to the hub (115) of the rotor shaft (103) and the other propellers (104) are loose on the shaft on the lower propeller (102), being able to rotate these on the lower one since they have been introduced in the bushing (115). To prevent the propellers from leaving the bushing (115), they are confined with a washer (116) fastened by screws to the outside of the bushing (115) which acts as a stop. The upper propeller (104) has a neodymium magnet (117) at the outer tip such that in the folded position it is attached to an electromagnet (118) placed in a protrusion at the inner end of the arm (102) without rubbing with the helices (104).
    [0176]
    [0177] The motors (114) located on the arms (102) at this time act as servomotors. They begin to rotate smoothly in the direction of flight rotation of the propellers (104), at 120 ° the lower propeller (104) that is attached to the bushing (115) by screws (if they were two propellers (104) per serious rotor at 180 °) is hooked by means of a protuberance (119) to the intermediate propeller (104) and dragged along with the lower one (104). At 240 ° the intermediate propeller (104) which is connected to the lower one (104), encounters a protuberance (119) with the upper propeller (104), simultaneously the engine (114), at this moment acting as servomotor , stops and the electromagnet (118) that holds the upper propeller (104) changes poles, thereby releasing the neodymium magnet (117), the propellers (104) are extended to be able to start flying. Along with what mentioned prominences, the centrifugal force and the air resistance on the blades or propellers (104) when they rotate at high speed makes them stay in position with each other.
    [0178]
    [0179] Phase 5: The size of the propeller (104) will be based on the type of flying vehicle you want to have. The smaller the radius, the smaller the sweep area, which means that more revolutions per minute are needed, which results in a higher air output speed to support the same weight. It is necessary that the exhaust air has sufficient speed so that when it decomposes into horizontal and vertical forces, it has sufficient lift capacity and can push at the same time with a sufficient horizontal force to reach the cruising speed of the desired flying vehicle. The horizontal speed of the flying vehicle will tend to be somewhat lower than the speed of the horizontal component of air output in the rotors since the friction of the body with the air will detract from power and speed.
    [0180]
    [0181] To fly, the controls may be similar to the smaller professional drones. With several controls used to raise, advance, stop and turn
    [0182]
    [0183] Then, by way of non-limiting example, some necessary power data are shown in the flying vehicle (100) and other relevant parameters:
    [0184]
    [0185] Weight of the flying vehicle 2,200 kg
    [0186]
    [0187] Average weight of 4 people 380 kg
    [0188]
    [0189] Weight of luggage 140 kg
    [0190]
    [0191] Total weight 2720 kg
    [0192]
    [0193] Weight that supports each rotor 2720/4 = 680 kg
    [0194]
    [0195] 1CV = 0.748kW
    [0196]
    [0197] 1CV = 75kg.m / s
    [0198]
    [0199] 680 kg.a 9.06 HP per engine to go up to 1 m / s = 6863.20W
    [0200]
    [0201] 680 kg to 12 HP per engine to go up to 2 m / s = 13726.40W
    [0202]
    [0203] 680 kg at 27.18 HP per engine to go up to 3 m / s = 20589.60W
    [0204]
    [0205] 680 kg to 36.24 HP per engine to rise to 4m / s = 27452.80W
    [0206] 680 kg at 45.30 HP per engine to increase to 5m / s = 34316.00W
    [0207] Power of a rotor:
    [0208]
    [0209] P = 1/2 X Sweep area X air density X V 3 X r
    [0210] Sweeping area with 0.8m propeller and 0.15m bushing (0.95m radius) = 1.94m2
    [0211]
    [0212] Air density = 1.22 kg / m2
    [0213]
    [0214] Helical outer circumference length = 5.97m
    [0215]
    [0216] Propeller pitch = 0.95-1
    [0217]
    [0218] For revolutions of 1407 rpm
    [0219]
    [0220] V = Air output speed = 23.45m / s (84.42km / h) Vertical component
    [0221]
    [0222] r = yield = 0.45
    [0223]
    [0224] P = 1/2 X Scanning area X air density X V3 = 1/2 X 1.94 x 1.22 x 23.453 X 0.45 =
    [0225]
    [0226] 6875.48W = 9,19 HP with this the flying vehicle goes up to 1m / s
    [0227] To increase to 5 m / s, for a revolutions of 2432 rpm:
    [0228]
    [0229] V = Air output speed = 40.08m / s (144.30km / h) Vertical component
    [0230] P = 1/2 X Sweep area X air density X V3 = 1/2 X 1.94 x 1.22 x 40.083 x 0.45 =
    [0231]
    [0232] 34332,3W = 45,90CV with this the flying vehicle goes up to 5m / s
    [0233] Phase of flight. The flight system is controlled by an electronic card that incorporates electronic gyroscopes and accelerometers that together with the GPS makes the flying vehicle have a simple and stable flight as the current drones of toys or professionals. The card controls the revolutions of each motor, the rotation of each rotor (103) etc.
    [0234]
    [0235] Once the flying vehicle (100) has risen to the desired height, for the flying vehicle to advance, each rotor (103) rotates by orienting the plane of the blades (104) or blades forward with respect to the horizontal plane independently and all controlled by a single lever with 360 ° movement in such a way that if the lever is moved a little towards in front of all the rotors (103) are oriented forward with an angle on the horizontal and if it moves later will rotate more and may reach higher speed. If you want to turn to the left in full flight, in the forward position of the lever, move slightly to the left and the plane of the rotors (103) on the right rotate a bit more forward on the horizontal plane, while increasing the revolutions, at the same time the planes of the rotors (103) on the left decrease their angle with the horizontal plane, while decreasing the revolutions.
    [0236]
    [0237] The mechanism that rotates the plane of the propellers (104) or blades forwards or backwards, is controlled by a servomotor (120) installed on the outer tip of each arm (102) that rotates the rotor (103) on an axis horizontal perpendicular to the direction of movement of the flying vehicle, driven by the aforementioned lever that is simultaneously controlled by the flight card. This will send the power to each rotor (103) so that each flight action, either advance, turn, climb, etc. Do it in a stable, smooth and controlled way.
    [0238]
    [0239] In a preferred relationship, each flight rotor (103) must have a power range between 0 and 46 CV. In addition, it must have a margin in case one of the rotors (103) fails (46x2 = 92CV) so the power range will be between 0 and 92CV. In this case, the rotor (103) that has stopped, will fold the propellers (104) as explained in phase 6 and the arm according to phase 7 or phase 8 and the rotor (103) together with the arm (102) of the remaining side will only move by turning enough degrees so that the center of gravity of the set is placed inside the imaginary triangle between the three rotors (103) that are working. The card will control all these actions and will send enough power to the side that remains with a single rotor (103) so that the flying vehicle (100) is stable and can fly safely.
    [0240]
    [0241] Phase 6: Once the flying vehicle (100) has ground, when activating the actuator (104) for bending of the propellers; in flight, this actuator (114) is not operative, unless a rotor (103) that activates for this rotor (103) fails; each rotor (103) is converted back into servomotor and begins to turn smoothly in the opposite direction to that of flight. When the upper propeller (104) reaches the height of the electromagnets (118) that each arm (104) has at the inner end thereof, a laser sensor placed next to the electromagnet (118) detects the tip of the propeller (104) and actuates the electromagnet (104) by sticking to the neodymium magnet (117) that is inserted in the tip of the propeller (104). The upper propeller (104) stops, but the second helix (104) and the lower helix (1049) continue to rotate until the second helix (104) upon reaching the upper helix (104) stops when encountering a prominence ( 119) of the upper propeller (104) The lower propeller (104), which is screwed to the bushing (115) of the rotor shaft (103), it continues to rotate until it reaches 240 ° (from the moment when the upper propeller (104) stopped), at the same time it encounters a prominence (119) of the second helix (104). Remaining the three blades or propellers (104) placed one above the other, above and with the same direction as the arm (102).
    [0242]
    [0243] Phase 7: Reverse action of phase 3 folding the front arms (102)
    [0244]
    [0245] Phase 8: Reverse action of phase 2 folding the front arms (102).
    [0246]
    [0247] Phase 9: Reverse action of phase 1, closing the doors of the body (110) and hiding under the roof (101) the entire flight system.
    [0248]
    [0249] Phase 10. The flying vehicle (100) goes to vehicle mode leaving phases 1 to 9 inoperative.
    权利要求:
    Claims (15)
    [1]
    1. A flying vehicle (100) characterized arranged to move by land and to fly characterized because it comprises:
    - one or several engines (109),
    - a chassis (105) composed of a lower structure (107) and an upper one (106) both joined by bars (108),
    - an autonomous driving and flight system based at least on GPS, one or several gyroscopes, one or more accelerometers and a controller card,
    - one or more rotors (103) with at least two helices (104) each,
    where in said lower structure (107) the wheels (121) of the flying vehicle (100) and said one or more engines (109) are located,
    wherein said one or more motors (109) are arranged to supply power to said one several rotors (103),
    wherein each of said one to several rotors (103) is attached to the upper structure (106) by means of arms (102),
    where, when the flying vehicle (100) operates in vehicle mode, said helices (104) are folded and said arms (102) with said rotors (103) are also folded, being located on said upper structure (106), below the part top, the roof (101), of the body of the flying vehicle (100),
    where, when the flying vehicle (100) operates in flight mode, said propellers (104) are deployed and the arms (102) together with the rotors (103) are deployed outside of the upper structure (106) and the upper part of the body for its operation, and
    wherein each of said arms (102) incorporates an electronic actuator (114) arranged to perform the deployment and / or retraction of said arms (102), rotors (103) and propellers (104) in several phases that cascade, where in each phase the current input to the previous phase and the next phase is canceled, in such a way as to guarantee that the movement is programmed in cascade.
    [2]
    2. Flying vehicle according to (100) claim 1 characterized in that said one or more motors (109) are electric and comprise an electrical system, an electronic one, batteries and / or fuel cells.
    [3]
    Flying vehicle (100) according to claim 2, characterized in that said one or more electric motors (109) have one of the following configurations:
    - the flying vehicle has an electric motor for each wheel fed by last generation batteries,
    - the flying vehicle has an electric motor for each axis powered by last generation batteries,
    - the flying vehicle has an electric motor with transmission, either to the front axle, to the rear axle, or to the two axles, powered by last generation batteries,
    - the flying vehicle has an electric motor per wheel fed by one or several fuel cells with hydrogen,
    - the flying vehicle has an electric motor per axle powered by one or several fuel cells with hydrogen, or
    - the flying vehicle has an electric motor with transmission, either to the front axle, to the rear axle, or to the two axles, powered by one or several fuel cells with hydrogen.
    [4]
    4. Flying vehicle (100) according to claim 1, characterized in that said one or more engines are gas-fired.
    [5]
    Flying vehicle (100) according to claim 4, characterized in that said one or several gas combustion engines with transmission either to the front axle, to the rear axle or to the two axles and where said one or several motors incorporate a responsible electric generator arranged for produce electricity for when the flying vehicle (100) is in flight mode.
    [6]
    Flying vehicle (100) according to claim 1, characterized in that it additionally comprises one or more rechargeable batteries by said one or several motors located in the lower structure of the flying vehicle (100).
    [7]
    Flying vehicle (100) according to claim 1 characterized in that it has four rotors (103), two front and two rear and where each rotor (103) has three propellers ( 104 ).
    [8]
    Flying vehicle (100) according to claim 1, characterized in that the flying vehicle (100) is a passenger flying vehicle (100) and / or a cargo flying vehicle.
    [9]
    9. Flying vehicle (100) according to claim 1 characterized in that said autonomous driving and flight system can be deactivated to operate the flying vehicle (100) manually.
    [10]
    Flying vehicle (100) according to claim 1, characterized in that said arms (102) joining said one or more rotors (103) and the propellers (104) to the upper structure (106) of the flying vehicle (100) or it comes already installed as standard on the flying vehicle (100) or arranged to be installed and uninstalled as required.
    [11]
    11. Flying vehicle (100) according to claim 1, characterized in that the upper body (106) has longitudinal doors on the sides (110) of the flying vehicle (100) that rotate on the upper longitudinal axis leaving that area free to that the arms (102) folded under the roof body (101) can deploy when used in flight mode.
    [12]
    12. A flying vehicle (100) according to claim 1, characterized in that when it passes from vehicle to flight mode, the deployment of arms (102), rotors (103) and propellers (104) with the support of the electronic actuator (114) incorporates the following stages:
    a) each folded back arm (102) rotates on an axle held by bearings embedded in the upper part of the chassis (106), extends and exits out of the body by means of a mechanism containing a metal shaft and resistant to a endless thread (112), moved by gears (113) and by a servomotor (114) powered by the engine (109) and / or batteries of the flying vehicle, where, when said arm (102) reaches the deployed position, the servomotor (114) stops,
    b) each folded front arm (102) rotates on an axle secured by bearings embedded in the upper part of the chassis (106), extends and exits out of the body by means of a mechanism containing a metal shaft and strong with a endless thread (112), moved by gears (113) and by a servomotor (114) powered by the engine (109) and / or batteries of the vehicle, where, when it reaches the deployed position the servomotor (114) stops , Y
    c) the arms (102) deployed with the propellers (104) folded, superposed one on top of the other and in the same direction as the arms (102), where the lower propeller (104) is screwed to the hub (115) of the axle rotor (103) and the rest of propellers (104) go loose on the shaft on the lower propeller (104), these can rotate on the lower one since they have been inserted in the bushing (115), where, to prevent the propellers (104) come out of the bushing (115), are confined with a washer (116) fastened by screws to the outside of the bushing (115) that acts as a stop, where the upper propeller (104) has a neodymium magnet (117). ) on the outer tip in such a way that in the folded position it is attached to an electromagnet (118) placed in a protrusion at the inner end of the arm (102) without rubbing with the propellers (104), where the rotors (103) located in the arms (102) act as servomotors (103) and begin to rotate smoothly in the direction of flight rotation of the propellers (102), rotating the lower one to a number of degrees equivalent to 360 divided by number of propellers (104) of that rotor (103), where it is hooked by means of a protuberance (119) to the next helix (104) and drags it together with the lower one (104) and so on until the number of propellers (104) of the rotor (103) ends, where the servomotor (103) stops and the electromagnet (118) holding the upper propeller (104) changes poles , with which it releases the neodymium magnet (117), in such a way that the propellers (104) are extended to be able to start flying.
    [13]
    Flying vehicle (100) according to claim 1 characterized in that said controller card controls the revolutions of each rotor (103) when the flying vehicle (100) is in flight mode.
    [14]
    14. Flying vehicle (100) according to claim 12, characterized in that when the flying vehicle (100) is in flight mode and reaches a flight height, to advance and / or turn, each rotor (103) rotates, independently, with a servomotor (114) located at the tip of the arm (103) of said rotor (103), orienting the plane of the propellers (104) forward with respect to the horizontal plane all controlled from a single lever with movement in 360 ° which acts on the controller card.
    [15]
    15. A flying vehicle (100) according to claim 14, characterized in that when it passes from flight to vehicle mode after flight, the withdrawal of arms (102), rotors (103) and propellers (104) are supported by the electronic actuator (114). ) incorporates the inverse stages a), b) and c) to when the deployment is performed.
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    同族专利:
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20160114887A1|2002-10-01|2016-04-28|Dylan T X Zhou|Amphibious vertical takeoff and landing unmanned system and flying car with multiple aerial and aquatic flight modes for capturing panoramic virtual reality views, interactive video and transportation with mobile and wearable application|
    US20130068876A1|2011-09-16|2013-03-21|Bogdan Radu|Flying Vehicle|
    CA2840823A1|2014-01-28|2015-07-28|Rajesh Gaonjur|Vertical take-off and landing roadable aircraft|
    CN204956909U|2015-07-09|2016-01-13|武汉高德无人机科技有限公司|Portable unmanned aerial vehicle|
    CN105035303A|2015-08-19|2015-11-11|无锡觅睿恪科技有限公司|Folding type aerial photography aircraft|
    CN205675221U|2016-02-22|2016-11-09|深圳市大疆创新科技有限公司|Frame and use the unmanned plane of this frame|CH717109A1|2020-02-04|2021-08-16|Matthias Weiss Lang|Road and / or air vehicle / airplane.|
    法律状态:
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