CN103072688B - Can be verted quadrotor - Google Patents
Can be verted quadrotor Download PDFInfo
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- CN103072688B CN103072688B CN201310023078.0A CN201310023078A CN103072688B CN 103072688 B CN103072688 B CN 103072688B CN 201310023078 A CN201310023078 A CN 201310023078A CN 103072688 B CN103072688 B CN 103072688B
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Abstract
The present invention discloses one and can vert quadrotor, 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 first, second, third, fourth rotor steering gear is installed, first, second, third, fourth rotor steering gear is respectively provided with a set of rotor. The present invention carries the rotor steering gear of rotor by installing on four fixed wings, when rotor steering gear verts, drives rotor rotational, and then flies and the conversion of vertical lifting offline mode before achieving the level of aircraft; In addition, due to rotor steering gear working reliability height, the locus connection and reasonable arrangement of rotor so that aircraft cruises lift greatly, has a smooth flight, and physical construction is simple, and working reliability improves.
Description
Technical field
The present invention relates to space travel field of power machinery, particularly relate to one and can vert quadrotor.
Background technology
All can not there is verting forward or backward in tradition quadrotor four rotors, on the one hand, it flies when doing before realizing level, require that two gyroplane rotate speeds being in front fuselage reduce, and be in back body two gyroplane rotate speeds and increase, lift difference is produced like this, and then the inevitable fuselage that causes produces luffing so that fly before aircraft level to influence each other with vertical lifting owing to front and back end gyroplane rotate speed is different; On the other hand, tradition quadrotor limits due to its Design Mechanism, it is difficult to reach picture fix the wing higher cruising speed, therefore the quadrotor that can incline has occurred.
The quadrotor that can incline has vertiplane and the advantage of fixed wing aircraft simultaneously, when VTOL, provides lift by four rotors, when cruising flight, provides lift by the fixed wing being fixed on fuselage. the existing quadrotor that inclines, its four rotors are arranged in same plane, four rotors are identical relative to the vertical height of fuselage plane, this just makes aircraft when cruising flight, front fuselage rotor go out the inevitable incoming gas becoming back body rotor and fixed wing of gas body, cause front section rotor and being coupled on rear end rotor and rear end fixed wing generation hydrokinetics, affect flight reappearance, the lift that the lift that before may causing fuselage under serious conditions, section fixed wing produces produces with back body fixed wing is inequal, make body that bigger pitching action occur when cruising and occur fly unstability problem, meanwhile, the existing quadrotor rotor tilting device project organization that inclines is complicated, and stability is difficult to ensure. just because of above shortcoming makes to incline, the application of quadrotor is extremely restricted.
Summary of the invention
For above-mentioned defect or deficiency, the present invention provide one cruise have a smooth flight, physical construction simply can vert quadrotor.
The present invention provides the present invention 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 first, second, third, fourth rotor steering gear is installed, first, second, third, fourth rotor steering gear is respectively provided with a set of rotor.
Described first, second, third, fourth rotor steering gear structure is identical, wherein, 3rd rotor steering gear comprises: the rotor motor seat that can vert, and rotor motor seat is installed on the end of the 3rd fixed wing, and rotor motor seat is provided with the torque motor driving rotor motor seat to rotate.
The end of described 3rd fixed wing is provided with stationary shaft, and rotor motor seat is installed on stationary shaft by the first bearing and the 2nd bearing, and on stationary shaft, key is connected with worm gear, and the rotating shaft of torque motor is provided with the worm screw with worm wheel.
The level height of first, second fixed wing described is lower than the level height of the 3rd, the 4th fixed wing.
Described first, second, third, fourth fixed wing is all fixed on body by two axles.
The sense of rotation of described adjacent rotor is contrary between two.
The quadrotor that verts provided by the invention, the rotor steering gear carrying rotor by installing on four fixed wings, when rotor steering gear verts, drive rotor rotational, and then fly and the conversion of vertical lifting offline mode before achieving the level of aircraft; In addition, due to rotor steering gear working reliability height, the locus connection and reasonable arrangement of rotor so that aircraft cruises lift greatly, has a smooth flight, and physical construction is simple, and working reliability improves.
Further, in the present invention, rotor steering gear is made up of a torque motor, one group of worm gear worm gear pair and rotor motor seat, torque motor provides the power that verts, drive rotor motor seat that the rotation relative to stationary shaft occurs after worm gear worm gear pair transmission, and self-locking effect can be produced so that rotor steering gear working reliability improves.
In addition, in the present invention, the level height of first, second fixed wing of front fuselage is lower than the level height of rear end the 3rd, the 4th fixed wing, what avoid front fuselage rotor goes out the incoming gas that gas body becomes back body rotor and fixed wing, reduce the coupling of body aerodynamics, it is to increase the flight reappearance of aircraft.
Accompanying drawing explanation
Fig. 1 is that the present invention can be verted quadrotor structural representation;
Fig. 2 is that the present invention can be verted quadrotor side-view;
Fig. 3 is that the present invention can be verted the rotor steering gear structural representation of quadrotor.
In figure, 1 is fuselage, and 2 is the 3rd fixed wing, 3 is the first axle, and 4 is rotor motor seat, and 5 is the first bearing, 6 is the 3rd rotor, and 7 is stationary shaft, and 8 is the 3rd rotor steering gear, 9 is the 2nd bearing, 10 is torque motor, and 11 is worm gear, and 12 is worm screw, 13 is the 2nd axle, 14 is the first rotor, and 15 is the first rotor steering gear, and 16 is the first fixed wing, 17 is the 2nd fixed wing, 18 is the 2nd rotor steering gear, and 19 is the 2nd rotor, and 20 is the 4th rotor steering gear, 21 is the 4th rotor, and 22 is the 4th fixed wing.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
Shown in figure 1, the present invention provides one and can vert quadrotor, comprise fuselage 1, the front end of fuselage 1 is symmetrically installed with the first fixed wing 16 and the 2nd fixed wing 17, the rear end of fuselage 1 is symmetrically installed with the 3rd fixed wing 2 and the 4th fixed wing 22, first fixed wing 16, the 2nd fixed wing 17, the 3rd fixed wing 2 and the 4th fixed wing 22 are all fixed on body 1 by two axles, such as, 3rd fixed wing 2 is fixed with fuselage 1 by the first axle 3 and the 2nd axle 13, wherein, the first axle 3, the 2nd axle 13 are stationary shaft;In addition, the level height of the first fixed wing 16 and the 2nd 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 provided with on the first rotor steering gear 15, first rotor steering gear 15 and is provided with the first rotor 14 by set screw; The end of the 2nd fixed wing 17 is provided with on the 2nd rotor steering gear the 18, two rotor steering gear 18 and is provided with the 2nd rotor 19 by set screw; The end of the 3rd fixed wing 2 is provided with on the 3rd rotor steering gear the 8, three rotor steering gear 8 and is provided with the 3rd rotor 6 by set screw; 4th fixed wing 22 end is provided with the 4th rotor steering gear 20,4th rotor steering gear 20 is provided with the 4th rotor 21 by set screw, wherein, the sense of rotation of adjacent rotor is contrary between two, namely the first rotor 14 is identical with the 3rd rotor 6 sense of rotation, 2nd rotor 19 is identical with the 4th rotor 21 sense of rotation, and first rotor 14 contrary with the 4th rotor 21 sense of rotation with the 3rd rotor 6 sense of rotation and the 2nd rotor 19, this design makes adjacent two rotor sense of rotation on the contrary to offset reactive torque.
First rotor steering gear 15 in the present invention, the 2nd rotor steering gear 18, the 3rd rotor steering gear 8, the 4th rotor steering gear 20 structure are identical, are described for the 3rd rotor steering gear 8 below. Shown in figure 2,3, the 3rd rotor steering gear 8 comprises: the rotor motor seat 4 that can vert, and rotor motor seat 4 is installed on the end of the 3rd fixed wing 2, and rotor motor seat 4 is provided with the torque motor 10 driving rotor motor seat 4 to rotate. Further, the end of the 3rd fixed wing 2 is provided with stationary shaft 7, rotor motor seat 4 is installed on stationary shaft 7 by the first bearing 5 and the 2nd bearing 9, and on stationary shaft 7, key is connected with worm gear 11, and the rotating shaft of torque motor 10 is provided with the worm screw 12 matched with worm gear 11. 3rd rotor steering gear 8 working process is: torque motor 10 provides power wheel drive worm screw 12 of verting to rotate, worm gear 11 owing to engaging with worm screw 12 is fixed on stationary shaft 7 and can not rotate, be there is the rotation relative to stationary shaft 7 by worm screw in drive rotor motor seat 4, and self-locking effect can be produced, therefore, the 3rd rotor 6 being fixedly mounted on rotor motor seat 4 can vert with rotor steering gear 8.
The principle of work of the present invention is:
When aircraft VTOL of the present invention, the first rotor 14, the 2nd rotor 19, the 3rd rotor 6 and the 4th rotor 21 are mutually parallel with place fixed wing, such as position residing in Fig. 1, for aircraft provides rising lift. In VTOL process, it is necessary to during adjustment track angle, increase the rotating speed of (or reduction) the 2nd rotor 19, the 3rd rotor 6, and reduce the rotating speed of (or increasing) first rotor 14, the 4th rotor 21 simultaneously; In VTOL process, it is necessary to when body produces pitching action, then increase the rotating speed of (or reduction) first rotor 14, the 2nd rotor 19 simultaneously, and reduce the rotating speed of (or increasing) the 3rd rotor 6, the 4th rotor 21; In VTOL process, it is necessary to when body produces roll action, then increase the rotating speed of (or reduction) first rotor 14, the 3rd rotor 6 simultaneously, and reduce the rotating speed of (or increasing) the 2nd rotor 19, the 4th rotor 21.
When aircraft of the present invention cruises flight, first rotor 14, the 2nd rotor 19, the 3rd rotor 6 and the 4th rotor 21 rotate 90 �� with position during VTOL, such as present position in Fig. 2, produce lift by the first fixed wing 16, the 2nd fixed wing 17, the 3rd fixed wing 2 and the 4th fixed wing 22.Cruising in flight course, it is necessary to adjustment track angle, then increasing the rotating speed of (or reduction) rotor the 2nd rotor 19, the 4th rotor 21 simultaneously, and reducing the rotating speed of (or increasing) first rotor 14, the 3rd rotor 6.
The verted quadrotor reasonable Arrangement of the present invention fuselage front and back end rotor motor, effectively reduces the aerodynamics coupled problem of the existing quadrotor that inclines; Designed rotor tilting device can realize the reliable and stable action of leaning forward of rotor; Adopting four fixed wings to provide lift, ensure that the big flight lift that cruises, and make to vert quadrotor physical construction simply, working reliability provides high.
Claims (4)
1. the quadrotor that can vert, comprise fuselage (1), the front end of fuselage (1) is symmetrically installed with first, second fixed wing (16,17), the rear end of fuselage (1) is symmetrically installed with the 3rd, the 4th fixed wing (2,22), wherein, the end of first, second, third, fourth fixed wing (16,17,2,22) respectively correspondence first, second, third, fourth rotor steering gear (15,18,8,20) is installed; Described first, second, third, fourth rotor steering gear (15,18,8,20) structure is identical, and the level height of first, second fixed wing described (16,17) is lower than the level height of the 3rd, the 4th fixed wing (2,22); It is characterized in that:
3rd rotor steering gear (8) comprising: rotor motor seat (4) that can vert, rotor motor seat (4) is installed on the end of the 3rd fixed wing (2), and rotor motor seat (4) is provided with the torque motor (10) driving rotor motor seat (4) to rotate;
When aircraft VTOL, the first rotor (14), the 2nd rotor (19), the 3rd rotor (6) and the 4th rotor (21) are mutually parallel with place fixed wing, for aircraft provides rising lift;
In VTOL process, when needing adjustment track angle, increase simultaneously or reduce the rotating speed of the 2nd rotor (19), the 3rd rotor (6), and reduce or increase the rotating speed of the first rotor (14), the 4th rotor (21); When needing body to produce pitching action, then increase simultaneously or reduce the rotating speed of the first rotor (14), the 2nd rotor (19), and reduce or increase the rotating speed of the 3rd rotor (6), the 4th rotor (21); When needing body to produce roll action, then increase simultaneously or reduce the rotating speed of the first rotor (14), the 3rd rotor (6), and reduce or increase the rotating speed of the 2nd rotor (19), the 4th rotor (21);
When flying when cruising, position when the first rotor (14), the 2nd rotor (19), the 3rd rotor (6) and the 4th rotor (21) and VTOL rotates 90 ��, produces lift by the first fixed wing (16), the 2nd fixed wing (17), the 3rd fixed wing (2) and the 4th fixed wing (22); Need adjustment track angle, then increase simultaneously or reduce the rotating speed of rotor the 2nd rotor (19), the 4th rotor (21), and reduce or increase the rotating speed of the first rotor (14), the 3rd rotor (6).
2. the quadrotor that verts according to claim 1, it is characterized in that: the end of described 3rd fixed wing (2) is provided with stationary shaft (7), rotor motor seat (4) is installed on stationary shaft (7) by the first bearing (5) and the 2nd bearing (9), the upper key of stationary shaft (7) is connected with worm gear (11), and the rotating shaft of torque motor (10) is provided with the worm screw (12) matched with worm gear (11).
3. the quadrotor that verts according to claim 1, it is characterised in that: described first, second, third, fourth fixed wing (16,17,2,22) is all fixed on fuselage (1) by two axles.
4. the quadrotor that verts according to claim 1, it is characterised in that: the sense of rotation of adjacent rotor is contrary between two.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103072688A CN103072688A (en) | 2013-05-01 |
| CN103072688B true CN103072688B (en) | 2016-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310023078.0A Active CN103072688B (en) | 2013-01-22 | 2013-01-22 | Can be verted quadrotor |
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| 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 |
| CN103786878A (en) * | 2014-02-08 | 2014-05-14 | 江苏艾锐泰克无人飞行器科技有限公司 | Multi-shaft aircraft |
| CN103786879B (en) * | 2014-02-08 | 2015-09-30 | 江苏艾锐泰克无人飞行器科技有限公司 | A kind of displacement aircraft |
| CN103935510A (en) * | 2014-04-15 | 2014-07-23 | 西安交通大学 | Tilted four-rotor aircraft |
| CN103935509B (en) * | 2014-04-15 | 2016-06-29 | 西安交通大学 | One vert quadrotor coordinate hoisting transportation device |
| CN104058093A (en) * | 2014-06-20 | 2014-09-24 | 吴智勇 | Novel tiltable rotor wing vertical take-off and landing plane |
| CN105292444A (en) * | 2014-07-08 | 2016-02-03 | 吴建伟 | Vertical take-off and landing aircraft |
| KR101565979B1 (en) * | 2015-04-13 | 2015-11-13 | 한국항공우주연구원 | Unmanned aerial vehicle |
| KR101767943B1 (en) * | 2015-05-08 | 2017-08-17 | 광주과학기술원 | Multirotor type Unmanned Aerial Vehicle Available for Adjusting Direction of Thrust |
| 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 |
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| 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 |
| 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 |
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| US6227481B1 (en) * | 1999-08-06 | 2001-05-08 | Bell Helicopter Textron, Inc. | Method and apparatus for controlling force fights in a rotating shaft |
| USD453317S1 (en) * | 2000-12-01 | 2002-02-05 | Bell Helicopter Textron Inc. | Quad tiltrotor |
| CA2704734C (en) * | 2007-09-27 | 2015-11-24 | Bell Helicopter Textron Inc. | Method and apparatus for improved vibration isolation |
| DE09840570T1 (en) * | 2008-10-03 | 2011-12-01 | Bell Helicopter Textron, Inc. | PROCESS AND DEVICE FOR AIRPLANE SENSOR AND ACTUATION ERROR PROTECTION USING RECONFIGURABLE AIR CONTROL GUIDELINES |
| CN101962075A (en) * | 2010-10-18 | 2011-02-02 | 南京航空航天大学 | Tilting mechanism, running mode of tilting mechanism, application of tilting mechanism in tilting rotorcraft |
| CN203094442U (en) * | 2013-01-22 | 2013-07-31 | 西安交通大学 | Tilting four-rotor aircraft |
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2013
- 2013-01-22 CN CN201310023078.0A patent/CN103072688B/en active Active
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| CN103072688A (en) | 2013-05-01 |
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