CN103072688A - Tiltable four-rotor wing aircraft - Google Patents
Tiltable four-rotor wing aircraft Download PDFInfo
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- CN103072688A CN103072688A CN2013100230780A CN201310023078A CN103072688A CN 103072688 A CN103072688 A CN 103072688A CN 2013100230780 A CN2013100230780 A CN 2013100230780A CN 201310023078 A CN201310023078 A CN 201310023078A CN 103072688 A CN103072688 A CN 103072688A
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Abstract
The invention discloses a tiltable four-rotor wing aircraft which comprises a machine body; first and second stationary wings are symmetrically installed at the front end of the machine body; third and forth stationary wings are symmetrically installed at the rear end of the machine body; first, second, third and fourth rotor wing steering devices are respectively and correspondingly installed at the end parts of the first, the second, the third and the fourth stationary wings; and four sets of rotor wings are respectively installed on the first, the second, the third and the fourth rotor wing steering devices. The tiltable four-rotor wing aircraft has the benefits that through installing the rotor wing steering devices carried with the rotor wings on the four stationary wings, when the rotor wing steering devices incline, the rotor wings are driven to rotate, and further, the conversion between a horizontal forward flight mode and a vertical lifting flight mode is realized; and in addition, as the rotor wing steering devices are high in working reliability, and the space positions of the rotor wings are reasonably arranged, the aircraft is large in cruise lift, stable in flight, simple in mechanical structure and high in working reliability.
Description
Technical field
The present invention relates to space travel power machine field, relate in particular to a kind of quadrotor that verts.
Background technology
Verting forward or backward all can not occur in tradition quadrotor four rotors, on the one hand, it flies when doing before the realization level, two gyroplane rotate speeds that requirement is in front fuselage reduce, increase and be in two gyroplane rotate speeds of back body, produce lift owing to the front and back end gyroplane rotate speed is different so poor, and then inevitably cause fuselage to produce luffing, so that fly before the aircraft level to influence each other with vertical lifting; On the other hand, therefore traditional quadrotor the quadrotor that can incline occurred because the restriction of its Design Mechanism is difficult to reach cruising speed higher as fixed wing.
The quadrotor that can incline has the advantage of helicopter and fixed wing aircraft simultaneously, when vertical takeoff and landing, provides lift by four rotors, when cruising flight, provides lift by the fixed wing that is fixed in fuselage.The existing quadrotor that inclines, its four rotors are arranged in the same plane, four rotors are identical with respect to the vertical dimension on fuselage plane, this just so that aircraft when doing cruising flight, the front fuselage rotor go out the gas that becomes a mandarin that the gas body inevitably becomes back body rotor and fixed wing, cause the coupling on leading portion rotor and rear end rotor and the rear end fixed wing generation fluid dynamics, impact flight quality, the lift that may cause the nosing fixed wing to produce in the serious situation is unequal with the lift that the back body fixed wing produces, the appearance problem of unstability of flying so that larger pitching action occurs when cruising body; Simultaneously, the existing quadrotor rotor reclining device project organization that inclines is complicated, and stability is difficult to guarantee.Just because of above shortcoming so that the application of the quadrotor that can incline be extremely restricted.
Summary of the invention
For defects or deficiency, the invention provides that a kind of cruising flight is steady, physical construction simply can vert quadrotor.
The invention provides the present invention is to be achieved through the following technical solutions:
Comprise fuselage, the front end of fuselage is symmetrically installed with first, second fixed wing, the rear end of fuselage is symmetrically installed with the 3rd, the 4th fixed wing, wherein, the end of first, second, third, fourth fixed wing respectively correspondence is equipped with first, second, third, fourth rotor steering hardware, and a cover rotor respectively is installed on the first, second, third, fourth rotor steering hardware.
Described first, second, third, fourth rotor steering hardware structure is identical, wherein, the 3rd rotor steering hardware comprises: the rotor motor cabinet that can vert, the rotor motor cabinet is installed on the end of the 3rd fixed wing, is equipped with on the rotor motor cabinet to drive the torque motor that the rotor motor cabinet rotates.
The end of described the 3rd fixed wing is provided with anchor shaft, and the rotor motor cabinet is installed on the anchor shaft by clutch shaft bearing and the second bearing, and key is connected with turbine on the anchor shaft, and the worm screw of matching with turbine is installed in the rotating shaft of torque motor.
The level height of described first, second fixed wing is lower than the level height of the 3rd, the 4th fixed wing.
Described first, second, third, fourth fixed wing all is fixed on the body by two axles.
The hand of rotation of described adjacent rotor is opposite in twos.
The quadrotor that verts provided by the invention, by the rotor steering hardware that carries rotor is installed at four fixed wings, when the rotor steering hardware verts, drive rotor and rotate, and then realized flying before the level of aircraft conversion with the vertical lifting offline mode; In addition, because rotor steering hardware functional reliability is high, the locus connection and reasonable arrangement of rotor, lift is large so that aircraft cruises, and has a smooth flight, and physical construction is simple, and functional reliability improves.
Further, the rotor steering hardware is comprised of a torque motor, one group of turbine and worm pair and rotor motor cabinet among the present invention, torque motor provides the power that verts, after the turbine and worm auxiliary driving, drive the generation of rotor motor cabinet with respect to the rotation of anchor shaft, and can produce self-locking effect, so that rotor steering hardware functional reliability improves.
In addition, the level height of first, second fixed wing of middle machine body front end of the present invention is lower than the level height of rear end the 3rd, the 4th fixed wing, avoided the gas that becomes a mandarin that the gas body becomes back body rotor and fixed wing that of front fuselage rotor, reduce the coupling of body aerodynamics, improved the flight quality of aircraft.
Description of drawings
Fig. 1 is the present invention's quadrotor structural representation that can vert;
Fig. 2 is the present invention's quadrotor lateral plan that can vert;
Fig. 3 is can the vert rotor steering hardware structural representation of quadrotor of the present invention.
Among the figure, 1 is fuselage, and 2 is the 3rd fixed wing, 3 is the first axle, and 4 is the rotor motor cabinet, and 5 is clutch shaft bearing, 6 is the 3rd rotor, and 7 is anchor shaft, and 8 is the 3rd rotor steering hardware, 9 is the second bearing, 10 is torque motor, and 11 is turbine, and 12 is worm screw, 13 is the second axle, 14 is the first rotor, and 15 is the first rotor steering hardware, and 16 is the first fixed wing, 17 is the second fixed wing, 18 is the second rotor steering hardware, and 19 is the second rotor, and 20 is the 4th rotor steering hardware, 21 is the 4th rotor, and 22 is the 4th fixed wing.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in detail.
With reference to shown in Figure 1, the invention provides a kind of quadrotor that verts, comprise fuselage 1, the front end of fuselage 1 is symmetrically installed with the first fixed wing 16 and the second fixed wing 17, the rear end of fuselage 1 is symmetrically installed with the 3rd fixed wing 2 and the 4th fixed wing 22, the first fixed wing 16, the second fixed wing 17, the 3rd fixed wing 2 and the 4th fixed wing 22 all are fixed on the body 1 by two axles, for example, the 3rd fixed wing 2 is fixing with fuselage 1 by the first axle 3 and the second axle 13, wherein, the first axle 3, the second axle 13 are anchor shaft; In addition, the level height of the first fixed wing 16 and the second fixed wing 17 is lower than the level height of the 3rd fixed wing 2 and the 4th fixed wing 22.Wherein, the end of the first fixed wing 16 is equipped with on the first rotor steering hardware 15, the first rotor steering hardwares 15 and by fix screw the first rotor 14 is installed; The end of the second fixed wing 17 is equipped with on the second rotor steering hardware 18, the second rotor steering hardwares 18 and by fix screw the second rotor 19 is installed; The end of the 3rd fixed wing 2 is equipped with on the 3rd rotor steering hardware 8, the three rotor steering hardwares 8 and by fix screw the 3rd rotor 6 is installed; The 4th fixed wing 22 ends are equipped with the 4th rotor steering hardware 20, by fix screw the 4th rotor 21 is installed on the 4th rotor steering hardware 20, wherein, the hand of rotation of adjacent rotor is opposite in twos, namely the first rotor 14 is identical with the 3rd rotor 6 hand of rotation, the second rotor 19 is identical with the 4th rotor 21 hand of rotation, and the first rotor 14 is opposite with the 4th rotor 21 hand of rotation with the 3rd rotor 6 hand of rotation and the second rotor 19, this design so that adjacent two rotor wing rotation opposite directions to offset reactive torque.
The first rotor steering hardware 15 among the present invention, the second rotor steering hardware 18, the 3rd rotor steering hardware 8, the 4th rotor steering hardware 20 structures are identical, and the below describes as an example of the 3rd rotor steering hardware 8 example.Shown in figure 2,3, the 3rd rotor steering hardware 8 comprises: the rotor motor cabinet 4 that can vert, rotor motor cabinet 4 is installed on the end of the 3rd fixed wing 2, is equipped with on the rotor motor cabinet 4 to drive the torque motor 10 that rotor motor cabinet 4 rotates.Further, the end of the 3rd fixed wing 2 is provided with anchor shaft 7, rotor motor cabinet 4 is installed on the anchor shaft 7 by clutch shaft bearing 5 and the second bearing 9, and key is connected with turbine 11 on the anchor shaft 7, and the worm screw 12 of matching with turbine 11 is installed in the rotating shaft of torque motor 10.The 3rd rotor steering hardware 8 working processs are: torque motor 10 provides the power driven worm screw 12 of verting to rotate, owing to being fixed on the anchor shaft 7 and can not rotating with the turbine 11 of worm screw 12 engagements, worm screw will drive the rotation that rotor motor cabinet 4 occurs with respect to anchor shaft 7, and can produce self-locking effect, therefore, the 3rd rotor 6 that is fixedly mounted on the rotor motor cabinet 4 can vert with rotor steering hardware 8.
Principle of work of the present invention is:
When aircraft vertical takeoff and landing of the present invention, the first rotor 14, the second rotor 19, the 3rd rotor 6 and the 4th rotor 21 parallel with the place fixed wing, such as residing position among Fig. 1, for aircraft provides rising lift.In the vertical takeoff and landing process, when needing to adjust course angle, increase simultaneously the rotating speed of (or reducing) second rotor 19, the 3rd rotor 6, and reduce the rotating speed of (or increasing) first rotor 14, the 4th rotor 21; In the vertical takeoff and landing process, when needing body to produce the pitching action, then increase simultaneously the rotating speed of (or reducing) first rotor 14, the second rotor 19, and reduce the rotating speed of (or increasing) the 3rd rotor 6, the 4th rotor 21; In the vertical takeoff and landing process, when needing body to produce the roll action, then increase simultaneously the rotating speed of (or reducing) first rotor 14, the 3rd rotor 6, and reduce the rotating speed of (or increasing) second rotor 19, the 4th rotor 21.
When aircraft cruising flight of the present invention, the first rotor 14, the second rotor 19, the 3rd rotor 6 and the 4th rotor 21 position during with vertical takeoff and landing is rotated 90 °, such as present position among Fig. 2, produce lift by the first fixed wing 16, the second fixed wing 17, the 3rd fixed wing 2 and the 4th fixed wing 22.In the cruising flight process, need to adjust course angle, then increase simultaneously the rotating speed of (or reducing) rotor the second rotor 19, the 4th rotor 21, and reduce the rotating speed of (or increasing) first rotor 14, the 3rd rotor 6.
The fuselage front and back end rotor motor that verted the quadrotor reasonable Arrangement of the present invention has effectively reduced the aerodynamics coupled problem of the existing quadrotor that can incline; Designed rotor reclining device can be realized the forward swing that rotor is reliable and stable; Adopt four fixed wings that lift is provided, guaranteed large cruising flight lift, and so that the quadrotor physical construction that can vert is simple, it is high that functional reliability provides.
Claims (6)
1. quadrotor that can vert, it is characterized in that: comprise fuselage (1), the front end of fuselage (1) is symmetrically installed with first, the second fixed wing (16,17), the rear end of fuselage (1) is symmetrically installed with the 3rd, the 4th fixed wing (2,22), wherein, first, second, the 3rd, the 4th fixed wing (16,17,2,22) end respectively correspondence is equipped with first, second, the 3rd, the 4th rotor steering hardware (15,18,8,20), first, second, the 3rd, the 4th rotor steering hardware (15,18,8, one cover rotor respectively is installed 20).
2. the quadrotor that verts according to claim 1, it is characterized in that: described first, second, third, fourth rotor steering hardware (15,18,8,20) structure is identical, wherein, the 3rd rotor steering hardware (8) comprising: the rotor motor cabinet (4) that can vert, rotor motor cabinet (4) is installed on the end of the 3rd fixed wing (2), is equipped with on the rotor motor cabinet (4) to drive the torque motor (10) that rotor motor cabinet (4) rotates.
3. the quadrotor that verts according to claim 2, it is characterized in that: the end of described the 3rd fixed wing (2) is provided with anchor shaft (7), rotor motor cabinet (4) is installed on the anchor shaft (7) by clutch shaft bearing (5) and the second bearing (9), the upper key of anchor shaft (7) is connected with turbine (11), and the worm screw (12) of matching with turbine (11) is installed in the rotating shaft of torque motor (10).
4. the quadrotor that verts according to claim 1, it is characterized in that: the level height of described first, second fixed wing (16,17) is lower than the level height of the 3rd, the 4th fixed wing (2,22).
5. the quadrotor that verts according to claim 1, it is characterized in that: described first, second, third, fourth fixed wing (16,17,2,22) all is fixed on the body (1) by two axles.
6. the quadrotor that verts according to claim 1, it is characterized in that: the hand of rotation of described adjacent rotor is opposite in twos.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310023078.0A CN103072688B (en) | 2013-01-22 | 2013-01-22 | Can be verted quadrotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310023078.0A CN103072688B (en) | 2013-01-22 | 2013-01-22 | Can be verted quadrotor |
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| Publication Number | Publication Date |
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| CN103072688A true CN103072688A (en) | 2013-05-01 |
| CN103072688B CN103072688B (en) | 2016-06-08 |
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| CN201310023078.0A Active CN103072688B (en) | 2013-01-22 | 2013-01-22 | Can be verted quadrotor |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103359284A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Petrol-electric hybrid four-rotor unmanned aerial vehicle |
| CN103359283A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | High-reliability unmanned aerial vehicle with tilt rotors |
| CN103466089A (en) * | 2013-09-26 | 2013-12-25 | 许庆松 | Fast-flying helicopter |
| CN103738496A (en) * | 2013-12-24 | 2014-04-23 | 西安交通大学 | Dynamical system structure suitable for vertical take-off and landing aircraft and control method thereof |
| CN103935509A (en) * | 2014-04-15 | 2014-07-23 | 西安交通大学 | Tilted four-rotor aircraft cooperative lifting and transporting device |
| CN103935510A (en) * | 2014-04-15 | 2014-07-23 | 西安交通大学 | Tilted four-rotor aircraft |
| CN104058093A (en) * | 2014-06-20 | 2014-09-24 | 吴智勇 | Novel tiltable rotor wing vertical take-off and landing plane |
| WO2015117509A1 (en) * | 2014-02-08 | 2015-08-13 | 杨华东 | Variable-pitch flight unit |
| WO2015117512A1 (en) * | 2014-02-08 | 2015-08-13 | 杨华东 | Multi-axis flight unit |
| CN104890875A (en) * | 2015-05-28 | 2015-09-09 | 天津大学 | Multi-rotor-wing unmanned aerial vehicle for panoramic shooting |
| WO2016004852A1 (en) * | 2014-07-08 | 2016-01-14 | 吴建伟 | Vertical take-off and landing aircraft |
| CN105292466A (en) * | 2015-11-06 | 2016-02-03 | 东莞华南设计创新院 | Differential motion vector propulsion servo system |
| CN106114851A (en) * | 2015-05-08 | 2016-11-16 | 光州科学技术院 | Multi-rotor unmanned aerial vehicle |
| CN106275420A (en) * | 2015-06-06 | 2017-01-04 | 杨林 | Uniclinal switch rotor fuselage holds up VTOL aircraft |
| CN106516080A (en) * | 2016-12-06 | 2017-03-22 | 昆山鲲鹏无人机科技有限公司 | Tilting wing unmanned aerial vehicle with aerodynamic layout and tilting mechanisms and method for detecting whether wings get loose or not |
| CN106585975A (en) * | 2017-01-22 | 2017-04-26 | 云南集优科技有限公司 | Compact unmanned aerial vehicle |
| CN107054613A (en) * | 2017-04-13 | 2017-08-18 | 上海微小卫星工程中心 | Cargo aircraft based on laser array delivery of energy |
| CN107352029A (en) * | 2016-05-09 | 2017-11-17 | 中国科学院沈阳自动化研究所 | A kind of electronic multiaxis tilting rotor wing unmanned aerial vehicle system |
| CN107531325A (en) * | 2015-04-13 | 2018-01-02 | 韩国航空宇宙研究院 | Unmanned vehicle |
| CN107672786A (en) * | 2017-11-02 | 2018-02-09 | 中国科学院、水利部成都山地灾害与环境研究所 | The aircraft and its change flying method of a kind of fixed-wing and rotor change |
| CN112093030A (en) * | 2020-10-21 | 2020-12-18 | 北京云圣智能科技有限责任公司 | Tandem wing tilt rotor aircraft and aircraft manufacturing method |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103359283A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | High-reliability unmanned aerial vehicle with tilt rotors |
| CN103359284A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Petrol-electric hybrid four-rotor unmanned aerial vehicle |
| CN103466089A (en) * | 2013-09-26 | 2013-12-25 | 许庆松 | Fast-flying helicopter |
| CN103738496A (en) * | 2013-12-24 | 2014-04-23 | 西安交通大学 | Dynamical system structure suitable for vertical take-off and landing aircraft and control method thereof |
| WO2015117509A1 (en) * | 2014-02-08 | 2015-08-13 | 杨华东 | Variable-pitch flight unit |
| WO2015117512A1 (en) * | 2014-02-08 | 2015-08-13 | 杨华东 | Multi-axis flight unit |
| CN103935509B (en) * | 2014-04-15 | 2016-06-29 | 西安交通大学 | One vert quadrotor coordinate hoisting transportation device |
| CN103935509A (en) * | 2014-04-15 | 2014-07-23 | 西安交通大学 | Tilted four-rotor aircraft cooperative lifting and transporting device |
| CN103935510A (en) * | 2014-04-15 | 2014-07-23 | 西安交通大学 | Tilted four-rotor aircraft |
| CN104058093A (en) * | 2014-06-20 | 2014-09-24 | 吴智勇 | Novel tiltable rotor wing vertical take-off and landing plane |
| WO2016004852A1 (en) * | 2014-07-08 | 2016-01-14 | 吴建伟 | Vertical take-off and landing aircraft |
| CN107531325B (en) * | 2015-04-13 | 2020-06-23 | 韩国航空宇宙研究院 | Unmanned aerial vehicle |
| CN107531325A (en) * | 2015-04-13 | 2018-01-02 | 韩国航空宇宙研究院 | Unmanned vehicle |
| CN106114851A (en) * | 2015-05-08 | 2016-11-16 | 光州科学技术院 | Multi-rotor unmanned aerial vehicle |
| CN104890875A (en) * | 2015-05-28 | 2015-09-09 | 天津大学 | Multi-rotor-wing unmanned aerial vehicle for panoramic shooting |
| CN106275420A (en) * | 2015-06-06 | 2017-01-04 | 杨林 | Uniclinal switch rotor fuselage holds up VTOL aircraft |
| CN105292466A (en) * | 2015-11-06 | 2016-02-03 | 东莞华南设计创新院 | Differential motion vector propulsion servo system |
| CN107352029A (en) * | 2016-05-09 | 2017-11-17 | 中国科学院沈阳自动化研究所 | A kind of electronic multiaxis tilting rotor wing unmanned aerial vehicle system |
| CN106516080A (en) * | 2016-12-06 | 2017-03-22 | 昆山鲲鹏无人机科技有限公司 | Tilting wing unmanned aerial vehicle with aerodynamic layout and tilting mechanisms and method for detecting whether wings get loose or not |
| CN106516080B (en) * | 2016-12-06 | 2019-01-11 | 昆山鲲鹏无人机科技有限公司 | A kind of tilting wing unmanned plane with aerodynamic arrangement and inclining rotary mechanism |
| CN106585975A (en) * | 2017-01-22 | 2017-04-26 | 云南集优科技有限公司 | Compact unmanned aerial vehicle |
| CN107054613A (en) * | 2017-04-13 | 2017-08-18 | 上海微小卫星工程中心 | Cargo aircraft based on laser array delivery of energy |
| CN107672786A (en) * | 2017-11-02 | 2018-02-09 | 中国科学院、水利部成都山地灾害与环境研究所 | The aircraft and its change flying method of a kind of fixed-wing and rotor change |
| CN112093030A (en) * | 2020-10-21 | 2020-12-18 | 北京云圣智能科技有限责任公司 | Tandem wing tilt rotor aircraft and aircraft manufacturing method |
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