CN103979104B - One can variant X-type wing vertical landing minute vehicle - Google Patents
One can variant X-type wing vertical landing minute vehicle Download PDFInfo
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Abstract
One can variant X-type wing vertical landing minute vehicle, comprise fuselage, wing, motor, screw propeller and take-off and landing device, wing is symmetrical about body axle system XOZ plane, be divided into upper and lower two parts, anti-on upper part wing, anti-under lower part wing, being arranged on respectively on fuselage, is acute angle distribution at the wing of two parts up and down of aircraft homonymy; Described upper part wing and lower part wing all have trapezoidal ratio and sweepback angle; Wing adopts recurvation aerofoil profile, and its front portion has positive camber, and rear portion has negative camber, the angle of attack that zero pitching moment is corresponding be on the occasion of.Steadily can realize vertical takeoff and landing, flat to fly, hover and flatly to fly and conversion between hovering; Have engine installation simple, energy utilization is abundant, and under each state of flight, pneumatic efficiency is high, road-holding property good, and speed range covers large feature, is suitable as the aircraft platforms of Micro Aerial Vehicle system.
Description
Technical field
The present invention relates to a kind of minute vehicle, particularly a kind of to have upper and lower two parts be the wing that X-type is arranged, has vertical takeoff and landing, flat to fly, the tail sitting posture of hover capabilities can variant X-type wing vertical landing minute vehicle.
Background technology
The concept of minute vehicle (MicroAerialVehicle, MAV) is that twentieth century is proposed first by the U.S. nineties, and even to this day, the research boom around MAV in world wide continue for for two more than ten years.Along with the raising of technical merit in international coverage and the accumulation of use experience, the gordian technique of each side all achieves a series of breakthrough, the MAV system with certain task ability occurs, people also enter the new stage to the understanding of minute vehicle and demand.Current, diversified task function becomes the new trend of MAV development.This requires that MAV can either with speed cruise flight faster, within the limited time, expand search coverage as far as possible, flying speed can be reduced as much as possible at mission area again, even hovering flight, so that mission payloads such as visible rays, obtain stable and lasting information.Meanwhile, possess vertical takeoff and landing ability and can make MAV place in operation under the particular surroundings of the small space such as architecture ensemble, forest, expanded the range of use of MAV.
Possess flat to fly, the aircraft layout of multiple task ability of hovering has many kinds, comprises rotor class, power category and the tail sitting posture vertical takeoff and landing etc. of verting type.Rotor class load capacity is strong, hovering efficiency is high, but cruising flight speed is slow, and manipulation is complicated, and reliability is low; The power category that verts rely on additional inclining rotary mechanism make the sensing of power level and vertically between change, realize the conversion that hovering peace flies, but additional inclining rotary mechanism adds weight and complexity, reduces load capacity and reliability, be not suitable for the MAV that space and weight is all unsuitable for and use; Tail sitting posture vertical takeoff and landing layout is the composite layouts form that rotor is combined with fixed-wing, can take into account the low speed of rotor craft and the efficient cruising ability of hovering flight ability and Fixed Wing AirVehicle.Be directed to the functional requirement of vertical takeoff and landing, tail sitting posture layout is a kind of layout of Combination property optimum.The tension balanced aircraft gravity that tail sitting posture vertical takeoff and landing layout utilizes screw propeller to produce realizes hovering; The convinced dynamic resistance of the Lalique that the aerodynamic lift balancing gravity utilizing wing to produce, screw propeller produce realizes flat flying; Thering is provided required operating torque by pneumatic rudder face in whole flight course, is a kind of composite layouts form meeting the integrated requirement of multiple-task ability, be applicable to MAV use.
But, also there is obvious limitation when existing tail sitting posture vertical takeoff and landing layout is used for minute vehicle.China Patent Publication No. CN102514712A, publication date on June 27th, 2012, the name of innovation and creation is called " a kind of vertically taking off and landing flyer ", this application case discloses a kind of vertically taking off and landing flyer by front symmetry installation, two motor driver inversion screw propellers, its uses and is positioned at the elevating rudder in propeller race district and yaw rudder is handled, and can realize vertical takeoff and landing and high-performance cruise.Its weak point is, twin screw layout causes the screw propeller can only selecting reduced size, otherwise screw propeller power consumption is by excessive, and this just causes propeller efficiency lower, and power system energy consumption increases sharply; Propeller size is little, and the diameter of propeller race stream pipe is just little, and under low-speed operations particularly floating state, the maneuvering ability of pneumatic rudder face declines fairly obvious, is difficult to provide enough hover control moment.The contradiction that Here it is between aircraft cannot meet simultaneously needed for power system weight, dynamic efficiency and multiple state of flight enough road-holding propertys.
Summary of the invention
The object of the present invention is to provide one can variant X-type wing vertical landing minute vehicle, which solve in prior art and cannot meet weight, contradiction between power of motor Appropriate application and road-holding property requirement simultaneously, single screw propeller is adopted to provide power to drive the distribution form of variable body X-type wing, realize handling by four movable controlsurfaces, be more suitable for realizing pulsation-free and cruise, hover and vertical takeoff and landing.
Technical scheme of the present invention is:
One can variant X-type wing vertical landing minute vehicle, comprise fuselage, wing, motor, screw propeller and take-off and landing device, described fuselage is the elongated cabin body along body axle system X-axis, and its inside is provided with electronic governor, autopilot, Data-Link Airborne Terminal, mission payload airborne equipment and battery; Described motor is arranged at the front end of fuselage, and described screw propeller is arranged on the pivot of motor; Described fuselage, motor, screw propeller are one, and described motor connects electronic governor, and the signal wire (SW) of electronic governor is connected with autopilot, and autopilot and Data-Link Airborne Terminal are bi-directionally connected; Mission payload airborne equipment is digital image sensor, is connected with Data-Link Airborne Terminal; Described motor, electronic governor, autopilot, Data-Link Airborne Terminal and digital image sensor are all battery-powered;
Its special character is: described wing is symmetrical about body axle system XOZ plane, is divided into upper and lower two parts, anti-on upper part wing, anti-under lower part wing, is arranged on respectively on fuselage, is acute angle distribution at the wing of two parts up and down of aircraft homonymy; Described upper part wing and lower part wing all have trapezoidal ratio and sweepback angle; Wing adopts recurvation aerofoil profile, and its front portion has positive camber, and rear portion has negative camber, the angle of attack that zero pitching moment is corresponding be on the occasion of.
Above-mentioned can variant X-type wing vertical landing minute vehicle, its special character is: also comprise movable controlsurface and variant mechanism, described movable controlsurface is positioned at the side of fuselage, symmetrical, total quantity is four, wing corresponding with it is respectively hinged mutually, handles by the difference of four movable controlsurfaces the manipulation that combination realizes aircraft; Described variant organization establishes, in fuselage interior, can be driven by actuator, the angle between left and right synchronous adjustment upper part wing and lower part wing, and the variant needed for realization is handled.
Above-mentioned movable controlsurface symmetrical each two about body axle system XOZ plane, produces around the rolling moment of OX axle by the movable controlsurface in XOZ plane both sides respectively to the different directions deflection of body axle system Z axis;
Produce the pitching moment around OY axle to the equidirectional deflection of body axle system Z axis by the movable controlsurface in XOZ plane both sides simultaneously;
Deflected to the different directions of body axle system Z axis by the movable controlsurface of two panels of XOZ plane side, the movable controlsurface of two panels of XOZ plane opposite side do not deflect the yawing moment produced around OZ axle.
Above-mentioned variant mechanism comprises the first rotating shaft, the second rotating shaft, ball and retainer, and described first rotating shaft and the second rotating shaft are fixed on fuselage respectively, and its line of centers is positioned at XOZ plane and is parallel to X-axis;
Described first rotating shaft by the first spar of lower part wing both sides and the end of three-wing beam hinged, the thickness of the first spar and three-wing beam end articulated position is all less than its spar stage casing, some balls and retainer is accompanied in the gap that two spar end thickness directions are formed, described retainer is the disk having annular spread circular hole, be fixed in the first rotating shaft, described ball is placed in the circular hole of retainer, and the diameter of described ball makes ball contact with three-wing beam with the first spar simultaneously; First spar end is involute gear profile, and the reference circle center of circle of profile of tooth is positioned on the line of centers of the first rotating shaft;
First spar of the shape of the second spar of described second rotating shaft and upper part wing both sides and the 4th spar and retainer, size and annexation and the first rotating shaft and lower part wing both sides and three-wing beam and retainer consistent;
Described actuator is a servomotor, an affixed involute tooth gear on the pivot of servomotor, gear compound graduation circle diameter is identical with the first spar, and the involute gear profile of described gear and the second spar end all engages with the involute gear profile of the first spar end.
Above-mentioned can variant X-type wing vertical landing minute vehicle, its special character is: when making the angle between upper part wing and lower part wing be zero by variant mechanism, and namely variant is single-blade, and 1ift-drag ratio raises.
Above-mentioned wing is hollow shell type structure, internal placement rib and girder construction, and in the middle part of wing, there is opening below, for installing the digital rudder controller handled and use.
Above-mentioned fuselage is hollow housing structure, internal placement beam and reinforcing frame; Fuselage interior arranges airborne equipment and battery according to design result; Front fuselage is motor mounting plate, for installing described motor; Fuselage side is wing mounting interface; There is the hatch of band hatchcover the below of fuselage, for dismounting and the maintenance of airborne equipment.
Above-mentioned motor is outer rotor brushless DC motor, uses screw to be fixed on the motor mounting plate described in front fuselage, is undertaken controlling by the airborne equipment of described fuselage interior, battery provides the energy; Described battery is polymer Li-ion battery.
Above-mentioned screw propeller is positive oar, uses squash type oar folder to be arranged on the pivot of described motor, is driven produce pulling force by motor.
Above-mentioned take-off and landing device is two right, and the symmetrical wingtip being fixed on described wing, is circular tube structure respectively, and this circular tube structure is not less than the maximum distance of wing at body axle system X-axis negative sense at the maximum distance of body axle system X-axis negative sense.
The invention has the advantages that:
1) X-type wing configurations form of the present invention adopts a motor and a screw propeller, propeller size is larger than twin screw distribution form, dynamic efficiency is higher, movable controlsurface is arranged at X-shaped trailing edge, add the covering of slip-stream for movable controlsurface, under limited physical dimension, improve load-carrying capacity and the road-holding property of aircraft.
2) flying instrument is for variant ability, increases upper lower wing angle during low-speed operations, makes pneumatic rudder face produce the ability of moment more by force, improves maneuvering ability; Reduce upper lower wing angle during cruising flight, make the direction of wing aerodynamic lift closer to vertical direction, improve the pneumatic efficiency that cruises.
3) the variant mechanism structure of aircraft is compact, and transmission is accurate, guarantees variant process full symmetric; Only need a driver drives variant mechanism, saving in weight, be applicable to the aircraft platforms small size of Micro Aerial Vehicle system, weight-saving requirement.
To sum up, technical solution of the present invention engine installation is more simple, X-shaped wing configurations, corresponding movable controlsurface are arranged and variant mechanism flies before hovering, low speed and can provide good pneumatic efficiency and maneuvering ability under each state of flight such as cruising flight fast, are suitable as the aircraft platforms of multi-task minitype Unmanned Aircraft Systems (UAS).
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
The Hybrid mode different conditions schematic diagram that Fig. 2 (a), Fig. 2 (b) are and Fig. 2 (c) is movable controlsurface of the present invention;
Wherein (a) produces to the deflection of the equidirectional of body axle system Z axis by the movable controlsurface in XOZ plane both sides to illustrate around the pitching moment state of OY axle simultaneously;
B () is illustrated around the rolling moment state of OX axle by the different directions deflection generation of the movable controlsurface in XOZ plane both sides respectively to body axle system Z axis;
C () is illustrated around the yawing moment state of OZ axle to the different directions deflection generation of body axle system Z axis by the movable controlsurface of two panels that XOZ plane is one-sided.
The composition that Fig. 3 (a), Fig. 3 (b) are and Fig. 3 (c) is variant mechanism of the present invention and position relationship schematic diagram;
Wherein (a) for variant mechanism part composition and each component shape and between the simple signal of position relationship;
B signal that () observes along X negative direction for variant mechanism;
C cutaway view that () is the place of A-A shown in (b) is illustrated.
Description of reference numerals:
1-wing; 2-fuselage; 3-motor; 4-screw propeller; The movable controlsurface of 5-; 6-variant mechanism; 7a-first rotating shaft; 7b-second rotating shaft; 8-actuator; 9-take-off and landing device; 10-ball; 11-retainer; 12a-first spar; 12b-second spar; 13a-three-wing beam; 13b-the 4th spar.
Detailed description of the invention
See Fig. 1, one can variant X-type wing vertical landing minute vehicle, comprise fuselage 2, wing 1, motor 3, screw propeller 4 and take-off and landing device 9, described fuselage 2 is the elongated cabin body along body axle system X-axis, and its inside is provided with electronic governor, autopilot, Data-Link, mission payload airborne equipment and battery; Described motor 3 is arranged at the front end of fuselage 2, and described screw propeller 4 is arranged on the pivot of motor 3; Described fuselage 2, motor 3, screw propeller 4 are one,
Wing 1 is symmetrical about body axle system XOZ plane, is divided into upper and lower two parts, anti-on upper part wing, anti-under lower part wing, is arranged on fuselage 2 respectively, is acute angle distribution at the wing of two parts up and down of aircraft homonymy; Described upper part wing and lower part wing all have trapezoidal ratio and sweepback angle; Wing 1 adopts recurvation aerofoil profile, and its front portion has positive camber, and rear portion has negative camber, the angle of attack that zero pitching moment is corresponding be on the occasion of.Can under the limited condition of length, actv. increases wing area, and increase wing simultaneously and be immersed in area in slipstream, the more effective energy utilizing slipstream, increases the lift of aircraft.
The present invention, for realizing variant, also comprises movable controlsurface 5 and variant mechanism 6, and described movable controlsurface 5 is positioned at the side of fuselage 2, symmetrical, total quantity is four, and wing 1 phase corresponding with it is respectively hinged, and handles by the difference of four movable controlsurfaces 5 manipulation that combination realizes aircraft; It is inner that described variant mechanism 6 is arranged at fuselage 2, can be driven, the angle between left and right synchronous adjustment upper part wing and lower part wing by actuator 8, and the variant needed for realization is handled.
Movable controlsurface 5 symmetrical each two about body axle system XOZ plane, produces around the rolling moment of OX axle by the movable controlsurface in XOZ plane both sides respectively to the different directions deflection of body axle system Z axis;
Produce the pitching moment around OY axle to the equidirectional deflection of body axle system Z axis by the movable controlsurface in XOZ plane both sides simultaneously;
Deflected to the different directions of body axle system Z axis by the movable controlsurface of two panels of XOZ plane side, the movable controlsurface of two panels of XOZ plane opposite side do not deflect the yawing moment produced around OZ axle.
Adopt a motor to mate corresponding screw propeller and power is provided, the aircraft of power is provided relative to double-motor twin screw, the propeller size of this aircraft is larger, make the movable control-surface area that is immersed in propeller race district larger, and described aircraft contains four movable controlsurfaces, further increase the movable control-surface area in slipstream.Therefore, propeller race is more remarkable on the impact of the aerodynamic force that movable controlsurface produces, and movable controlsurface deflection adjustment more by a small margin just can provide enough operating torques, and efficiency is higher, especially adds the aircraft controllability under floating state.
When making the angle between dihedral wing and lower anti-wing be zero by variant mechanism 6, namely variant is single-blade, and 1ift-drag ratio raises.Therefore, under identical dynamic condition, larger flying speed can be obtained, cover larger speed interval, realize wider cruising in the short time.
Wing 1 is hollow shell type structure, internal placement rib and girder construction, and in the middle part of wing 1, there is opening below, for installing the digital rudder controller handled and use.
Fuselage 2 is hollow housing structure, internal placement beam and reinforcing frame; Fuselage 2 internal condition design result arranges airborne equipment and battery; Fuselage 2 front end is motor mounting plate, for installing described motor 3; Fuselage 2 side is wing 1 mounting interface; There is the hatch of band hatchcover the below of fuselage 2, for dismounting and the maintenance of airborne equipment.
Motor 3 is outer rotor brushless DC motor, uses screw to be fixed on the motor mounting plate described in fuselage 2 front end, is undertaken controlling by the airborne equipment of described fuselage 2 inside, battery provides the energy.
Screw propeller 4 is positive oar, uses squash type oar folder to be arranged on the pivot of described motor 3, drives generation pulling force by motor 3.
Take-off and landing device 9 is two right, and the symmetrical wingtip being fixed on described wing 1, is circular tube structure respectively, and this circular tube structure is not less than the maximum distance of wing 1 at body axle system X-axis negative sense at the maximum distance of body axle system X-axis negative sense.Like this, by the support of take-off and landing device, the attitude that aircraft can be parallel to earth's axis system Z axis with body axle system X-axis is parked on the ground.
Be described below in conjunction with the mixed-control mode of accompanying drawing 2 to movable controlsurface of the present invention.
Described aircraft comprises four movable controlsurfaces 5, is articulated with corresponding wing 1 trailing edge respectively.Produce the pitching moment around OY axle, shown in Fig. 2 (a) to the equidirectional deflection of body axle system Z axis by the movable controlsurface 5 in XOZ plane both sides simultaneously; Produce around the rolling moment of OX axle, by the movable controlsurface 5 in XOZ plane both sides shown in Fig. 2 (b) respectively to the different directions deflection of body axle system Z axis; Yawing moment around OZ axle is produced, shown in Fig. 2 (c) to the different directions deflection of body axle system Z axis by the movable controlsurface 5 of two panels that XOZ plane is one-sided.Independent deflecting direction and the deflection angle controlling four movable controlsurfaces 5, by used in combination for three kinds of maneuverability patterns, can realize the control of flight attitude according to the method described above, completes vertical takeoff and landing simultaneously, flatly to fly, hovers and flatly to fly and mutual conversion between hovering.
Below in conjunction with accompanying drawing 3, the composition of variant mechanism of the present invention and variant manner are described.
Two first rotating shaft 7a of described variant mechanism 6, the second rotating shaft 7b are fixed on fuselage 2, and its line of centers is positioned at XOZ plane and is parallel to X-axis; First rotating shaft 7a is by hinged for the end of the first spar 12a and three-wing beam 13a of lower part wing both sides, the thickness of the first spar 12a and three-wing beam 13a end articulated position is all less than its spar stage casing, first spar 12a end is involute gear profile, and the reference circle center of circle of profile of tooth is positioned on the line of centers of the first rotating shaft 7a; First spar 12a and three-wing beam 13a and the retainer 11 of the shape of the second spar 12b of the second rotating shaft 7b and upper part wing both sides and the 4th spar 13b and retainer 11, size and annexation and the first rotating shaft 7a and lower part wing both sides are consistent; Shown in Fig. 3 (a); Some balls 10 and retainer 11 is accompanied in the gap of the spar end thickness direction formation of the first spar 12a and three-wing beam 13a, described retainer 11 is the disks having annular spread circular hole, be fixed on the first rotating shaft 7a, described ball 10 is placed in the circular hole of retainer 11, the diameter of described ball 10 makes ball 10 contact with three-wing beam 13a, shown in Fig. 3 (c) with the first spar 12a simultaneously; Actuator 8 is a servomotor, an affixed involute tooth gear on the pivot of servomotor, gear compound graduation circle diameter is identical with the first spar 12a, the involute gear profile of described gear and the second spar 12b end all engages, shown in Fig. 3 (b) with the involute gear profile of the first spar 12a end.When servo motor output shaft rotates, the first spar 12a of lower part band involute gear profile is driven to rotate around the first rotating shaft 7a by gear transmission, first spar 12a of lower part band involute gear profile drives the second spar 12b of upper part band involute gear profile to rotate backward around the second rotating shaft 7b by gears meshing and the ball 10 that pass through clamping drives opposite side lower part three-wing beam 13a to rotate backward around the first rotating shaft 7a, second spar 12b of upper part band involute gear profile drives opposite side upper part the 4th spar 13b to rotate backward around the second rotating shaft 7b, realizes variant and handles.
Airborne equipment and the annexation of aircraft are as follows: motor 3 connects an electronic governor, and electronic governor is all connected with autopilot with the signal wire (SW) of digital rudder controller.Autopilot and Data-Link are bi-directionally connected; Task device is digital image sensor, is connected with Data-Link.Described motor 3, electronic governor, digital rudder controller, autopilot, Data-Link and digital image sensor are powered by polymer Li-ion battery.
The data flow of aircraft is as follows: the control command of Data-Link satellite receiver sends to autopilot, control signal is produced after autopilot processes, motor 3 rotating speed is changed by electronic governor, by the deflection of four movable controlsurfaces 5 of digital servos control, by the variant of two digital servos control wings.Telemetry data is sent to Data-Link by autopilot, and digital image sensor obtains image and sends it to Data-Link, and telemetry data and image are sent to ground station by Data-Link.
Aircraft, according to task needs, handles variant mechanism 6 by data flow, the angle in change between lower wing, increases upper lower wing angle during low-speed operations, makes pneumatic rudder face produce the ability of moment more by force, improves maneuvering ability; Reduce upper lower wing angle during cruising flight, make the direction of wing 1 aerodynamic lift closer to vertical direction, improve the pneumatic efficiency that cruises.
The typical mission of aircraft is as follows: take off vertically, after arriving preplanned mission height, movable controlsurface 5 is deflected under the manipulation of autopilot, motivation of adjustment, average flight state is proceeded to from hovering flight state, variant mechanism 6 start simultaneously, angle in reduction between bottom wing, improve cruising flight efficiency, carry out airline operation, after arriving mission area overhead, movable controlsurface is deflected under autopilot is handled, motivation of adjustment, to go into hover state of flight from average flight state, variant mechanism start simultaneously, angle in increase between bottom wing, the maneuvering ability of movable controlsurface under improving floating state, at overhead, target area steadily hovering, digital image sensor obtains image.After task terminates, then proceed to average flight state by hovering and make a return voyage, arrive near drop zone, go into hover state, slow falling head landing.
Claims (9)
1. one kind can variant X-type wing vertical landing minute vehicle, comprise fuselage (2), wing (1), motor (3), screw propeller (4) and take-off and landing device (9), described fuselage (2) is the elongated cabin body along body axle system X-axis, and its inside is provided with electronic governor, autopilot, Data-Link Airborne Terminal, mission payload airborne equipment and battery; Described motor (3) is arranged at the front end of fuselage (2), and described screw propeller (4) is arranged on the pivot of motor (3); Described fuselage (2), motor (3), screw propeller (4) are one, and described motor (3) connects electronic governor, and the signal wire (SW) of electronic governor is connected with autopilot, and autopilot and Data-Link Airborne Terminal are bi-directionally connected; Mission payload airborne equipment is digital image sensor, is connected with Data-Link Airborne Terminal; Described motor (3), electronic governor, autopilot, Data-Link Airborne Terminal and digital image sensor are all battery-powered;
It is characterized in that: described wing (1) is symmetrical about body axle system XOZ plane, is divided into upper and lower two parts, anti-on upper part wing, anti-under lower part wing, being arranged on fuselage (2) respectively, is acute angle distribution at the wing of two parts up and down of aircraft homonymy; Described upper part wing and lower part wing all have trapezoidal ratio and sweepback angle; Wing (1) adopts recurvation aerofoil profile, and its front portion has positive camber, and rear portion has negative camber, the angle of attack that zero pitching moment is corresponding be on the occasion of;
Also comprise movable controlsurface (5) and variant mechanism (6), described movable controlsurface (5) is positioned at the side of fuselage (2), symmetrical, total quantity is four, wing (1) corresponding with it is respectively hinged mutually, handles by the difference of four movable controlsurfaces (5) manipulation that combination realizes aircraft; It is inner that described variant mechanism (6) is arranged at fuselage (2), and can pass through actuator (8) and drive, the angle between left and right synchronous adjustment upper part wing and lower part wing, the variant needed for realization is handled.
2. according to claim 1 can variant X-type wing vertical landing minute vehicle, it is characterized in that: described movable controlsurface (5) symmetrical each two about body axle system XOZ plane, produce around the rolling moment of OX axle by the movable controlsurface in XOZ plane both sides respectively to the different directions deflection of body axle system Z axis;
Produce the pitching moment around OY axle to the equidirectional deflection of body axle system Z axis by the movable controlsurface in XOZ plane both sides simultaneously;
Deflected to the different directions of body axle system Z axis by the movable controlsurface of two panels of XOZ plane side, the movable controlsurface of two panels of XOZ plane opposite side do not deflect the yawing moment produced around OZ axle.
3. according to claim 1 can variant X-type wing vertical landing minute vehicle, it is characterized in that: described variant mechanism (6) comprises the first rotating shaft (7a), the second rotating shaft (7b), ball (10) and retainer (11), described first rotating shaft (7a) and the second rotating shaft (7b) are fixed on fuselage (2) respectively, and its line of centers is positioned at XOZ plane and is parallel to X-axis;
Described first rotating shaft (7a) by first spar (12a) of lower part wing both sides and the end of three-wing beam (13a) hinged, the thickness of the first spar (12a) and three-wing beam (13a) end articulated position is all less than its spar stage casing, some balls (10) and retainer (11) is accompanied in the gap that two spar end thickness directions are formed, described retainer (11) is the disk having annular spread circular hole, be fixed in the first rotating shaft (7a), described ball (10) is placed in the circular hole of retainer (11), the diameter of described ball (10) makes ball (10) contact with three-wing beam (13a) with the first spar (12a) simultaneously, first spar (12a) end is involute gear profile, and the reference circle center of circle of profile of tooth is positioned on the line of centers of the first rotating shaft (7a),
First spar (12a) of the shape of second spar (12b) of described second rotating shaft (7b) and upper part wing both sides and the 4th spar (13b) and retainer (11), size and annexation and the first rotating shaft (7a) and lower part wing both sides and three-wing beam (13a) and retainer (11) consistent;
Described actuator (8) is a servomotor, an affixed involute tooth gear on the pivot of servomotor, gear compound graduation circle diameter is identical with the first spar (12a), and the involute gear profile of described gear and the second spar (12b) end all engages with the involute gear profile of the first spar (12a) end.
4. according to claim 3 can variant X-type wing vertical landing minute vehicle, it is characterized in that: when making the angle between upper part wing and lower part wing be zero by variant mechanism (6), namely variant is single-blade, and 1ift-drag ratio raises.
5. according to Claims 1 to 4 arbitrary described can variant X-type wing vertical landing minute vehicle, it is characterized in that: described wing (1) is hollow shell type structure, internal placement rib and girder construction, there is opening below, wing (1) middle part, for installing the digital rudder controller handled and use.
6. according to claim 5 can variant X-type wing vertical landing minute vehicle, it is characterized in that: described fuselage (2) is hollow housing structure, internal placement beam and reinforcing frame; Fuselage (2) internal condition design result arranges airborne equipment and battery; Fuselage (2) front end is motor mounting plate, for installing described motor (3); Fuselage (2) side is wing (1) mounting interface; There is the hatch of band hatchcover the below of fuselage (2), for dismounting and the maintenance of airborne equipment.
7. according to claim 6 can variant X-type wing vertical landing minute vehicle, it is characterized in that: described motor (3) is outer rotor brushless DC motor, use screw to be fixed on the motor mounting plate described in fuselage (2) front end, undertaken controlling by the airborne equipment that described fuselage (2) is inner, battery provides the energy; Described battery is polymer Li-ion battery.
8. according to claim 7 can variant X-type wing vertical landing minute vehicle, it is characterized in that: described screw propeller (4) is positive oar, use squash type oar folder to be arranged on the pivot of described motor (3), driven by motor (3) and produce pulling force.
9. according to claim 8 can variant X-type wing vertical landing minute vehicle, it is characterized in that: described take-off and landing device (9) is two right, the symmetrical wingtip being fixed on described wing (1) respectively, be circular tube structure, this circular tube structure is not less than the maximum distance of wing (1) at body axle system X-axis negative sense at the maximum distance of body axle system X-axis negative sense.
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| CN106741934A (en) * | 2015-11-25 | 2017-05-31 | 中航贵州飞机有限责任公司 | Tandem coaxial double-oar tailstock formula VUAV |
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| DE2344215A1 (en) * | 1972-09-01 | 1974-03-14 | Short Brothers & Harland Ltd | AIRCRAFT |
| EP0661206A1 (en) * | 1992-12-28 | 1995-07-05 | Hughes Missile Systems Company | An unmanned vertical take-off and landing, horizontal cruise, air vehicle |
| CN1380222A (en) * | 2002-05-21 | 2002-11-20 | 孔小乐 | Flying vehicle air-form regulation system |
| US6669137B1 (en) * | 2002-08-26 | 2003-12-30 | Zhuo Chen | Air vehicle having rotor/scissors wing |
| CN202753709U (en) * | 2012-07-26 | 2013-02-27 | 沈阳申蓝航空科技有限公司 | Upright vertical take-off and landing aircraft |
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|---|---|
| CN103979104A (en) | 2014-08-13 |
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