CN110525643A - A kind of vertical take-off and landing drone and its manufacturing method - Google Patents
A kind of vertical take-off and landing drone and its manufacturing method Download PDFInfo
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- CN110525643A CN110525643A CN201910882797.5A CN201910882797A CN110525643A CN 110525643 A CN110525643 A CN 110525643A CN 201910882797 A CN201910882797 A CN 201910882797A CN 110525643 A CN110525643 A CN 110525643A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
Abstract
The embodiment of the invention provides a kind of vertical take-off and landing drone and its manufacturing methods.The vertical take-off and landing drone includes: at least two wings, support frame, the first driving part, the second driving part, third driving part, fourth drive part part, the first propeller, the second propeller, third propeller and quadruple screw propeller；Support frame as described above is fixedly connected between described two wings with described two wings；First propeller is mounted on first driving part, tilts first angle along first direction；Second propeller is mounted on second driving part, tilts second angle in a second direction；The third propeller is mounted on the third driving part, tilts third angle along third direction；The quadruple screw propeller is mounted on the fourth drive part part, is tilted fourth angle along fourth direction, is achieved the effect that make vertical take-off and landing drone that can successfully take off vertically under different scenes.
Description
Technical field
The present embodiments relate to air vehicle technique field more particularly to a kind of vertical take-off and landing drone and its manufacturers
Method.
Background technique
With the rapid development of vertical take-off and landing drone, how successfully to control vertical take-off and landing drone and carry out VTOL
Also more and more important.
Current vertical take-off and landing drone, the general anti-twisted torque generated using control motor high speed rotation, carries out course
Control moment is adjusted.Such as propeller generates anti-twisted torque counterclockwise when rotating clockwise.By adjusting turning for propeller
Speed generates different Heading control torque, with realizing unmanned plane smooth landing.
However, current Heading control torque is all to be generated by controlling the revolving speed of motor, and utilize the anti-twisted torque of motor
The course torque of generation is limited, and in the biggish area of some wind-force, unmanned plane needs biggish Heading control power in wind resistance situation
Square, existing vertical take-off and landing drone are not able to satisfy under different scenes and can smoothly take off vertically.
Summary of the invention
The embodiment of the present invention provides a kind of vertical take-off and landing drone and its manufacturing method, makes vertical take-off and landing drone to realize
The effect that can successfully take off vertically under different scenes.
In a first aspect, the embodiment of the invention provides a kind of vertical take-off and landing drone, comprising:
At least two wings, support frame, the first driving part, the second driving part, third driving part, fourth drive part
Part, the first propeller, the second propeller, third propeller and quadruple screw propeller；
Support frame as described above is fixedly connected between described two wings with described two wings；
First propeller is mounted on first driving part, tilts first angle along first direction；
Second propeller is mounted on second driving part, tilts second angle in a second direction；
The third propeller is mounted on the third driving part, tilts third angle along third direction；
The quadruple screw propeller is mounted on the fourth drive part part, tilts fourth angle along fourth direction.
Optionally, the Plane of rotation of the propeller is vertical with the drive rod of the driving part, first driving portion
Part tilts first angle along the first direction, and second driving part tilts second angle along the second direction, described
Third driving part tilts third angle along the third direction, and the fourth drive part part is along fourth direction inclination the 4th
Angle.
Optionally, the first distance of the axis of first driving part and support frame as described above and second driving part
It is consistent with the second distance of the axis of support frame as described above, the third distance of the axis of the third driving part and support frame as described above
It is consistent with the 4th distance of the fourth drive part part and the axis of support frame as described above.
Optionally, the first angle and the second angle size be not identical, the third angle and the fourth angle
It is not identical to spend size.
Optionally, adjacent propeller is oppositely oriented.
Optionally, the driving part is motor.
Optionally, the range of the angle is 0 ° -45 °.
Optionally, the first direction, second direction, third direction and fourth direction are the symmetrical of vertical take-off and landing drone
Axis and perpendicular to the direction between the vertical axis of the symmetry axis.
Second aspect, the embodiment of the invention provides a kind of manufacturing methods of vertical take-off and landing drone, comprising:
The second propeller of first angle and unmanned plane of the first propeller tilt of unmanned plane is determined based on the first preset rules
Inclined second angle；
The third angle and unmanned plane quadruple screw propeller of unmanned plane third propeller tilt are determined based on the second preset rules
Inclined fourth angle；
The mold of vertical take-off and landing drone is manufactured according to the first angle, second angle, third angle and fourth angle；
The vertical take-off and landing drone is manufactured by the mold.
Optionally, it is described based on the first preset rules determine first angle and second angle or based on the second preset rules it is true
Determine third angle and fourth angle, comprising:
Level coordinates system is established, the level coordinates system includes for defining the first direction, second direction,
The X-axis and Y-axis in three directions and fourth direction；
Determine the first hovering pulling force of the first propeller, the first hovering torque of the first propeller, the second propeller the
It is the second hovering torque or the triple propeller third hovering pulling force of two hovering pulling force and the second propeller, the triple propeller
4th hovering torque of third hovering torque, the 4th hovering pulling force of quadruple screw propeller and quadruple screw propeller；
Determine the first center of gravity distance and described second at the center of first propeller and the vertical take-off and landing drone
The second center of gravity distance at the center of propeller and the vertical take-off and landing drone or the third propeller and the VTOL
The quadruple at the center of the third center of gravity distance at the center of unmanned plane and the quadruple screw propeller and the vertical take-off and landing drone
Heart distance；
According to the first hovering pulling force, the second hovering pulling force, the first hovering torque, the second hovering torque, the first center of gravity
Distance and the second center of gravity distance determine the first angle and second angle, or according to third hovering pulling force, the 4th hovering
Pulling force, third hovering torque, the 4th hovering torque, third center of gravity distance and the 4th center of gravity distance determine the third angle and the
Four angles.
The embodiment of the present invention is driven by least two wings, support frame, the first driving part, the second driving part, third
Dynamic component, fourth drive part part, the first propeller, the second propeller, third propeller and quadruple screw propeller；Support frame as described above exists
Between described two wings, it is fixedly connected with described two wings；First propeller is mounted on first driving part
On, first angle is tilted along first direction；Second propeller is mounted on second driving part, is inclined in a second direction
Oblique second angle；The third propeller is mounted on the third driving part, tilts third angle along third direction；It is described
Quadruple screw propeller is mounted on the fourth drive part part, tilts fourth angle along fourth direction, solves and only turned by motor
The Heading control torque that speed generates is limited, and unmanned plane is caused not to be able to satisfy the problem of can smoothly taking off vertically under different scenes,
Realize the effect that vertical take-off and landing drone can successfully take off vertically under different scenes.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for vertical take-off and landing drone that the embodiment of the present invention one provides；
Fig. 2 is a kind of rearview for vertical take-off and landing drone that the embodiment of the present invention one provides；
Fig. 3 is a kind of right view for vertical take-off and landing drone that the embodiment of the present invention one provides；
Fig. 4 is a kind of manufacturing method of vertical take-off and landing drone provided by Embodiment 2 of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing or method described as flow chart.Although each step is described as the processing of sequence by flow chart, many of these
Step can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of each step can be rearranged.When its operation
Processing can be terminated when completion, it is also possible to have the additional step being not included in attached drawing.Handle the side of can correspond to
Method, function, regulation, subroutine, subprogram etc..
In addition, term " first ", " second " etc. can be used to describe herein various directions, movement, step or element etc.,
But these directions, movement, step or element should not be limited by these terms.These terms are only used to by first direction, movement, step
Rapid or element and another direction, movement, step or element are distinguished.For example, the case where not departing from scope of the present application
Under, it can be the second driving part by the first driving part, and similarly, the second driving part can be known as the first driving portion
Part.First driving part and the second driving part both driving part, but it is not same driving part.Term " the
One ", " second " etc. is not understood to indicate or imply relative importance or implicitly indicates the number of indicated technical characteristic
Amount." first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more of the features.
In the description of the present invention, " multiple ", " batch " are meant that at least two, such as two, three etc., unless otherwise clearly having
The restriction of body.
Embodiment one
Fig. 1 is a kind of structural schematic diagram for vertical take-off and landing drone that the embodiment of the present invention one provides.
As shown in Figure 1, vertical take-off and landing drone provided in an embodiment of the present invention includes at least two wings 100, support frame
200, the first driving part 310, the second driving part 320, third driving part 330, fourth drive part part 340, the first spiral
Paddle 410, the second propeller 420, third propeller 430 and quadruple screw propeller 440.Wherein:
Support frame as described above 200 is fixedly connected between described two wings 100 with described two wings 100；
First propeller 410 is mounted on first driving part 310, tilts first angle along first direction；
Second propeller 420 is mounted on second driving part 320, tilts second angle in a second direction；
The third propeller 430 is mounted on the third driving part 330, tilts third angle along third direction；Described 4th
Propeller 440 is mounted on the fourth drive part part 340, tilts fourth angle along fourth direction.
Specifically, wing 100 is the important component of vertical take-off and landing drone, most important effect is in cruising flight
When generate lift.Wing 100 is fixedly connected with support frame 200, when vertical take-off and landing drone carries out cruising flight, passes through wing
The thrust that 100 lift generated and propeller generate, so that unmanned function realizes the cruising flight of long range in the sky.It is optional
, the quantity of wing 100 can be greater than two, be also possible to two, herein with no restriction.Preferably, the quantity of wing 100 is
2, it is arranged in the left and right sides of support frame 200.
Driving part refers to that driving propeller is rotated, and overcomes gravity to provide power, realizes unmanned plane is vertical
The component of rising.In the present embodiment, it is preferred that driving part is motor.Specifically, driving part is arranged in support frame 200
Two sides.Preferably, driving part is arranged symmetrically in the two sides of support frame 200, i.e., described first driving part 310 and the branch
The second distance one of the axis of the first distance of the axis of support 200 and second driving part 320 and support frame as described above 200
Cause, the third distance of the third driving part 330 and the axis of support frame as described above 200 and the fourth drive part part 340 with
4th distance of the axis of support frame as described above 200 is consistent.
Propeller refers to installation on the driving part, drives rotation to generate power by driving part, to overcome gravity to make
Unmanned plane vertical ascent.In general, only installing a propeller on each driving part.In the present embodiment, there are four drive altogether
Dynamic component, respectively the first driving part 310, the second driving part 320, third driving part 330 and fourth drive part part
340.Corresponding, the quantity of propeller is also four, respectively the first propeller 410, the second propeller 420, third propeller
430 and quadruple screw propeller 440.Specifically, the first propeller 410 tilts first angle, 420 edge of the second propeller along first direction
Second direction tilts second angle, and third propeller 430 tilts third angle along third direction, and quadruple screw propeller 440 is along the 4th
Direction tilts fourth angle.
Optionally, adjacent propeller is oppositely oriented.If the rotation direction of the first propeller 410 be it is clockwise, second
The rotation direction of propeller 420 and quadruple screw propeller 440 be it is counterclockwise, the rotation direction of third propeller 430 is clockwise；If the first spiral shell
Rotation paddle 410 rotation direction be it is counterclockwise, then the rotation direction of the second propeller 420 and quadruple screw propeller 440 is clockwise, third propeller
430 rotation direction is counterclockwise.
Wherein, propeller tilt certain angle can be driving part perpendicular to ground, and propeller tilt be mounted on
In driving part；It is also possible to the Plane of rotation of propeller and the driving ending vertical of driving part, and driving part and ground
It is tilted a certain angle, herein with no restriction.Preferably, the driving ending vertical of the Plane of rotation of propeller and driving part, and
Driving part and ground inclination certain angle, specifically, the drive rod of the Plane of rotation of the propeller and the driving part
Vertically, first driving part 310 tilts first angle along the first direction, and second driving part 320 is along described
Second direction tilts second angle, and the third driving part 330 tilts third angle, the 4 wheel driven along the third direction
Dynamic component 340 tilts fourth angle along the fourth direction.
First angle, second angle, the size of third angle and fourth angle can be identical, can not also be identical, can be with
It is set as needed.Optionally, the first angle and the second angle size be not identical, the third angle and described
Four angular dimensions are not identical.Preferably, first angle, second angle, third angle and fourth angle are for different unmanned planes
There is different best angle relationships, passes through the available maximum Heading control torque of best angle relationship.It is maximum herein
Within the scope of Heading control torque, the angular dimension of propeller tilt can be changed suitably according to demand.Inclined angle is not got over
Big better, angle is bigger, and component of the propeller in the direction perpendicular to ground is smaller, is more unfavorable for taking off for unmanned plane, therefore
The size of angle is set as needed.Optionally, the range of angle is 0 ° -45 °.
Wherein, first direction, second direction, third direction and fourth direction be space in either to.Preferably, institute
First direction, second direction, third direction and fourth direction are stated for the symmetry axis of vertical take-off and landing drone and perpendicular to described right
Claim the direction between the vertical axis of axis.It is a kind of rearview of vertical take-off and landing drone with reference to Fig. 2 and Fig. 3, Fig. 2.In Fig. 2
In, here it is apparent that, propeller is tilted a certain angle along the symmetry axis of unmanned plane.In Fig. 2, propeller toward right bank, but
The present embodiment is not limited to propeller toward right bank, and propeller can also be toward left bank, herein with no restriction.Fig. 3 is a kind of
The right view of vertical take-off and landing drone.In Fig. 3, here it is apparent that, propeller is along the vertical axis vertical with symmetry axis
Certain angle.In Fig. 3, propeller is toward left bank, but the present embodiment is not limited to toward left bank, acceptable past right bank,
Herein with no restriction.Wherein, the angle of propeller tilt is illustrated in a different view by Fig. 2 and Fig. 3, i.e., and first jiao
Degree, second angle, third angle and fourth angle are all the close angle degree of inclined angle in Fig. 2 and Fig. 3.In the present embodiment,
Different propellers can tilt different angles toward different directions, make the maximum effect of Heading control torque to reach.
Wherein, in general, in order to reach better architectural characteristic and aerodynamic characteristic, the front propeller and rear screw of unmanned plane
Paddle needs independent design, and inconsistent the problems such as causing pitching, rolling, course coupling of bow oar and rear paddle, reduces flight
Stability.The inclination angle of the vertical period unmanned plane provided through this embodiment, moreover it is possible to inhibit to bow caused by propeller is inconsistent
Face upward, rolling, course coupling the problems such as, enhance the stability of aircraft flight.
The technical solution of the embodiment of the present invention, by the way that the first propeller is tilted first angle, the second spiral shell along first direction
Rotation paddle tilts second angle in a second direction, and third propeller tilts third angle along third direction, and quadruple screw propeller is along the 4th
Direction tilts fourth angle, can according to need the tilt angle of increased Heading control torque adjustment propeller, so that vertically
Landing unmanned plane can successfully take off vertically under different scenes.
Embodiment two
Fig. 4 is a kind of flow diagram of the manufacturing method of vertical take-off and landing drone provided by Embodiment 2 of the present invention.This
Embodiment is suitable for the scene manufactured to vertical take-off and landing drone.
As shown in figure 4, the manufacturing method of vertical take-off and landing drone provided by Embodiment 2 of the present invention includes:
S510, the second spiral shell of first angle and unmanned plane that the first propeller tilt of unmanned plane is determined based on the first preset rules
Revolve the inclined second angle of paddle.
Wherein, the first preset rules refer to the rule of determining first angle and second angle.Specifically, in the present embodiment
In, the first preset rules are the algorithm for calculating first angle and second angle.
S520, the 4th spiral shell of third angle and unmanned plane that unmanned plane third propeller tilt is determined based on the second preset rules
Revolve the inclined fourth angle of paddle.
Wherein, the second preset rules refer to the rule of determining third angle and fourth angle.Specifically, in the present embodiment
In, the second preset rules are the algorithm for calculating third angle and fourth angle.
S530, vertical take-off and landing drone is manufactured according to the first angle, second angle, third angle and fourth angle
Mold.
Wherein, mold refers to the tool used in the manufacturing process of product.Correspondence can be produced by mold
Product.
S540, the vertical take-off and landing drone is manufactured by the mold.
Optionally, step S510 or step S520 are specifically included:
Level coordinates system is established, the level coordinates system includes for defining the first direction, second direction,
The X-axis and Y-axis in three directions and fourth direction；
Determine the first hovering pulling force of the first propeller, the first hovering torque of the first propeller, the second propeller the
It is the second hovering torque or the triple propeller third hovering pulling force of two hovering pulling force and the second propeller, the triple propeller
4th hovering torque of third hovering torque, the 4th hovering pulling force of quadruple screw propeller and quadruple screw propeller；
Determine the first center of gravity distance and described second at the center of first propeller and the vertical take-off and landing drone
The second center of gravity distance at the center of propeller and the vertical take-off and landing drone or the third propeller and the VTOL
The quadruple at the center of the third center of gravity distance at the center of unmanned plane and the quadruple screw propeller and the vertical take-off and landing drone
Heart distance；
According to the first hovering pulling force, the second hovering pulling force, the first hovering torque, the second hovering torque, the first center of gravity
Distance and the second center of gravity distance determine the first angle and second angle or are drawn according to third hovering pulling force, the 4th hovering
Power, third hovering torque, the 4th hovering torque, third center of gravity distance and the 4th center of gravity distance determine the third angle and the 4th
Angle.
Preferably, X-axis is the vertical axis vertical with the symmetry axis of vertical take-off and landing drone, and Y-axis is vertical take-off and landing drone
Symmetry axis.For calculating first angle and second angle, it is assumed that the inclination angle of the first propeller in the Y direction is θ Luy, the
One propeller is θ Lux at the inclination angle of X-direction；Second propeller is θ Ldx at the inclination angle of X-direction, and the second propeller is in-Y
The inclination angle in direction is θ Ldy.First hovering pulling force size is FLu, and the second hovering pulling force size is FLd, then first propeller
Horizontal component is FLun, and the horizontal component of the second propeller is FLdn, and the hovering torque of the first propeller is Mu, the second propeller
Hovering torque be Md then the pulling force of propeller and inclination angle meet following condition:
FLuLuy=FLdLdy
Enable Lux=0.3m, Luy=0.2m, Ldx=0.2m, Ldy=0.3555m, FLu=16N, FLd=9N, Mu=
0.26Nm, Md=0.14Nm, then 1.5 ° of θ Luy ≈, 1 ° of θ Lux ≈, θ Ldy=2.7780 °, θ Ldx=4.9296 °.
Propeller allowable angle of inclination is less than 5 ° at this time, and propeller loss of tension is less than 4% [1-cos (5 °)].
In the present embodiment, by the inclination of propeller pulling force, in the case where losing part pulling force, course control can be enhanced
Torque processed makes the power zero of flight and left and right flight before and after aircraft when propeller characteristic is inconsistent, vertical take-off and landing drone
Resultant force takes off vertically and declines perpendicular to the ground, to realize, does not influence the motion control of aircraft.
Wherein, in general, in order to reach better architectural characteristic and aerodynamic characteristic, the front propeller and rear screw of unmanned plane
Paddle needs independent design, and inconsistent the problems such as causing pitching, rolling, course coupling of bow oar and rear paddle, reduces flight
Stability.The inclination angle of the vertical period unmanned plane provided through this embodiment, moreover it is possible to inhibit to bow caused by propeller is inconsistent
Face upward, rolling, course coupling the problems such as, enhance the stability of aircraft flight.
The technical solution of the embodiment of the present invention, by determining the first propeller tilt of unmanned plane based on the first preset rules
The second angle of the second propeller tilt of first angle and unmanned plane；Unmanned plane third propeller is determined based on the second preset rules
Inclined third angle and the inclined fourth angle of unmanned plane quadruple screw propeller；According to the first angle, second angle, third
The mold of angle and fourth angle manufacture vertical take-off and landing drone；The vertical take-off and landing drone is manufactured by the mold, is reached
The technical effect of different vertical take-off and landing drone is manufactured to the demand for different scenes.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of vertical take-off and landing drone characterized by comprising
At least two wings, support frame, the first driving part, the second driving part, third driving part, fourth drive part part,
First propeller, the second propeller, third propeller and quadruple screw propeller；
Support frame as described above is fixedly connected between described two wings with described two wings；
First propeller is mounted on first driving part, tilts first angle along first direction；
Second propeller is mounted on second driving part, tilts second angle in a second direction；
The third propeller is mounted on the third driving part, tilts third angle along third direction；
The quadruple screw propeller is mounted on the fourth drive part part, tilts fourth angle along fourth direction.
2. vertical take-off and landing drone as described in claim 1, which is characterized in that the Plane of rotation of the propeller and the drive
The drive rod of dynamic component is vertical, and first driving part tilts first angle, second driving portion along the first direction
Part tilts second angle along the second direction, and the third driving part tilts third angle along the third direction, described
Fourth drive part part tilts fourth angle along the fourth direction.
3. vertical take-off and landing drone as described in claim 1, which is characterized in that first driving part and support frame as described above
Axis first distance and second driving part it is consistent with the second distance of the axis of support frame as described above, the third is driven
The 4th of the axis of the third distance of the axis of dynamic component and support frame as described above and the fourth drive part part and support frame as described above
Distance is consistent.
4. vertical take-off and landing drone as described in claim 1, which is characterized in that the first angle and the second angle are big
Small not identical, the third angle and the fourth angle size be not identical.
5. vertical take-off and landing drone as described in claim 1, which is characterized in that adjacent propeller it is oppositely oriented.
6. vertical take-off and landing drone as described in claim 1, which is characterized in that the driving part is motor.
7. vertical take-off and landing drone as described in claim 1, which is characterized in that the range of the angle is 0 ° -45 °.
8. vertical take-off and landing drone as described in claim 1, which is characterized in that the first direction, second direction, third party
To and fourth direction be vertical take-off and landing drone symmetry axis and perpendicular to the direction between the vertical axis of the symmetry axis.
9. a kind of manufacturing method of vertical take-off and landing drone characterized by comprising
The second propeller tilt of first angle and unmanned plane of the first propeller tilt of unmanned plane is determined based on the first preset rules
Second angle；
The third angle and the inclination of unmanned plane quadruple screw propeller of unmanned plane third propeller tilt are determined based on the second preset rules
Fourth angle；
The mold of vertical take-off and landing drone is manufactured according to the first angle, second angle, third angle and fourth angle；
The vertical take-off and landing drone is manufactured by the mold.
10. the manufacturing method of vertical take-off and landing drone as claimed in claim 9, which is characterized in that described to be based on first default
Rule determines first angle and second angle or determines third angle and fourth angle based on the second preset rules, comprising:
Level coordinates system is established, the level coordinates system includes for defining the first direction, second direction, third party
To the X-axis and Y-axis with fourth direction；
Determine the first hovering pulling force of the first propeller, the first hovering torque of the first propeller, the second propeller it is second outstanding
Stop the second hovering torque or triple propeller third hovering pulling force, triple propeller third of pulling force and the second propeller
4th hovering torque of hovering torque, the 4th hovering pulling force of quadruple screw propeller and quadruple screw propeller；
Determine the first center of gravity distance and second spiral at the center of first propeller and the vertical take-off and landing drone
The second center of gravity distance at the center of paddle and the vertical take-off and landing drone or the third propeller with it is described vertical take-off and landing unmanned
4th center of gravity at the center of the third center of gravity distance at the center of machine and the quadruple screw propeller and the vertical take-off and landing drone away from
From；
According to the first hovering pulling force, the second hovering pulling force, the first hovering torque, the second hovering torque, the first center of gravity distance
Determine the first angle and second angle with the second center of gravity distance, or according to the third hover pulling force, the 4th hovering pulling force,
Third hovers torque, the 4th hovering torque, third center of gravity distance and the 4th center of gravity apart from the determining third angle and fourth angle
Degree.
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Application publication date: 20191203 |