CN105314107B - A method of realizing the vertical landing of existing unmanned aerial vehicle - Google Patents
A method of realizing the vertical landing of existing unmanned aerial vehicle Download PDFInfo
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- CN105314107B CN105314107B CN201410286207.XA CN201410286207A CN105314107B CN 105314107 B CN105314107 B CN 105314107B CN 201410286207 A CN201410286207 A CN 201410286207A CN 105314107 B CN105314107 B CN 105314107B
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- 230000037396 body weight Effects 0.000 claims description 4
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- 230000005484 gravity Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 239000000203 mixture Substances 0.000 abstract description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000002350 accommodative effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
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Abstract
A method of realizing the vertical landing of existing unmanned aerial vehicle, method is by core methed: installing direction-variable power device additional on the engine, householder method: change engine installation position, householder method: using diclinic empennage under the font of falling v, and install support wheel composition additional in its lower end: this method can be realized, the body of existing unmanned aerial vehicle is under horizontality, the propeller of fuselage head verts to y-axis, pull-up head when being in 90 degree with body, propeller is remained perpendicular to y-axis, make body state in a vertical shape, propeller pull-up body and the vertical takeoff for realizing unmanned aerial vehicle, vertical body is slowly drop down to after tail support wheel lands when landing, reduce propeller pulling force, head generates downward gravity, propeller verts to y-axis at this time, control head be slowly drop down to nose-gear land realization landing.
Description
Technical field:
The present invention relates to the takeoff methods of aviation field unmanned aerial vehicle, and in particular to be that a kind of existing unmanned aerial vehicle is vertical
The method of landing.
Background technique:
When unmanned aerial vehicle used at present takes off, the unmanned aerial vehicle of micro volume uses hand throwing type takeoff method, more substantially
Long-pending unmanned aerial vehicle is taken off using track plus rocket assist to realize, large-scale unmanned aerial vehicle needs runway to take off to realize, landing
The column Shi Caiyong cuts net, parachute, and runway lands to realize, this landing method that takes off brings many not to the use of unmanned plane
Just, the use scope of unmanned aerial vehicle is also limited.
Take off for unmanned aerial vehicle these existing insufficient, the vd200 tailstock formula unmanned planes that land, (Air China's industry Chengdu institute
Developing) it is so that body is in nose-high into vertical state, propeller pull-up machine in afterbody installation tailstock structure
Body realizes vertical takeoff and vertical drop.
Tailstock formula unmanned plane can really overcome before unmanned plane take off landing aspect existing for some shortcomings, due to lean on tailstock
Structural support the body holded up, physical presence be related to stability: between body longitudinal length and tailstock structure size, laterally
Sky resistance, contradiction, therefore, body length is restricted, and there are flight stabilities, handling, load load, laterally empty resistance, machine
The weak deficiency of maneuverability during body size, vertical landing, selection landing site ability.
Summary of the invention:
1, purpose
The purpose of the present invention: being to provide a kind of method for realizing the vertical landing of existing unmanned plane, come solve it is existing nobody fly
The needs of machine take off by external force, runway realization, and barrier, parachute, runway landing and tailstock formula unmanned plane is needed to exist
Deficiency.
2, solving the existing above-mentioned insufficient method of unmanned aerial vehicle is:
A method of it realizing the vertical landing of existing unmanned aerial vehicle, when unmanned aerial vehicle takes off, the side on body head is set
To arm, interlock propeller and vert in the Y-axis relative to body, vert to when being spent with body in an angle of 90 degrees, body head is by spiral
Paddle pull-up, carrying and rear support point by the support wheel of the double oblique empennage lower ends of the inverted v-shaped used as body weight, with
Holding up for body, pitman arm also accordingly vert holding it is parallel with Y-axis until body by vertical pull-up realize vertical takeoff, landing
When, the decrease speed of vertical body is controlled, until the support wheel of its tail portion contacts ground as supporting point first, reduces propeller
Pulling force simultaneously keeps it to be parallel to y-axis until landing is completed in nose-gear landing.
A kind of method for realizing the vertical landing of existing unmanned aerial vehicle, engine is on organism level center line
Side.
A kind of direction-variable power device for realizing the vertical landing method of existing unmanned aerial vehicle, by steering base, pitman arm group
At engine power axis connection steering base, the steering base connects common axis, and the common axis connects pitman arm, turns to
Seat connection steering gear worm, the steering gear worm connecting worm and motor, the worm screw and motor connect engine, pitman arm
The worm gear that verts, vert worm gear connecting worm and the motor are connected, the worm screw and motor connect steering base.
A kind of method for realizing the vertical landing of existing unmanned aerial vehicle shares the excessive elevating arc of axis connection power, institute
The excessive elevating arc of the power stated connects power input elevating arc on one side, and the power input elevating arc connects engine power
Axis, the excessive elevating arc another side of power connect power output elevating arc, and the power output elevating arc connects power output shaft
Lower end, the power output shaft connect pitman arm, and the power output shaft upper end connects propeller.
The working principle of this method:
1, direction-variable power device is installed on engine power axis, rotatable steering base centered on You Yiqi axis, connection
Fan gear can be passed through with respect to the pitman arm composition that steering base verts, engine power, power output shaft passes to propeller,
Pitman arm gearing propeller, which verts, can produce unidirectional vector power, and since steering base interlocks the rotation of pitman arm, so that spiral shell
The existing unidirectional vector power that paddle generates is revolved, generates the vector pulling force or thrust of different direction in 360 degree of opposite spaces, because
And it realizes and process is done by the work of orientation power output to vector power output.
2, since the engine on body is equipped with direction-variable power device, when taking off, pitman arm on horizontality body is interlocked
Propeller verts with respect to body upwards to being parallel to y-axis, is in an angle of 90 degrees with body, propeller pull-up head, on double lower empennages
Support wheel is as fulcrum, and vertical with body, pitman arm also verts therewith, remains and is parallel to y-axis, until body is erected
Vertical pulling rises, and body vertical at this time, the same as helicopter under the using of vector power, can fly to any direction,
With vertical takeoff, landing.
2, since direction-variable power device is above head horizontal center line, under vertical landing state, organism level center line
X1 deviates body weight center line x2, and body generates relative angle a1 with the propeller for being parallel to y-axis, makes machine using this feature
Body and ground generate relative angle a2.
3, support wheel of the landing at present on empennage lands first as supporting point, since body and ground are there are angle a2,
Head generates downward gravity, reduces propeller pulling force at this time and it is kept to be parallel to y-axis, the completion drop until nose-gear lands
It falls.
The utility model has the advantages that
1, method proposed by the present invention makes existing unmanned aerial vehicle, does not need tailstock structure, and by external force, runway takes off.Resistance
Block, parachute, tailstock, runway landing.
2, proposed by the present invention, method is not influenced by geographical wind-force on organism stability is holded up, and is had aerial vertical outstanding
Stop, can be to any direction vertical shift, accommodative ability of environment is strong, and use scope is big, can narrow and small place and it is on the move in
Vertical landing is realized on small-sized warship.
3, proposed by the present invention, using the method for double oblique empennages, empennage is made to have rear undercarriage concurrently and landing support of taking off
Frame is used, therefore does not need rear landing gear structure, and increases support construction.
4, the composite entity of engine of the invention and direction-variable power device, the industrial production of practicable standardised series.
Detailed description of the invention:
Attached drawing 1 is the vertical landing schematic diagram of body of this method.
Attached drawing 2 is the organism level state attached drawing of attached drawing 1.
Attached drawing 3 is the direction-variable power device structural representation attached drawing of attached drawing 1.
Specific embodiment:
Implement: example 1:
A method of it realizing the vertical landing of existing unmanned aerial vehicle, when unmanned aerial vehicle takes off, the side on body head is set
Propeller 17 is interlocked to arm 3 to vert in the Y-axis with respect to body 18, is tilted to propeller 17 when mutually spending in an angle of 90 degrees with body 18
Carrying by head pull-up body 18, by the support wheel 19 of the double oblique tail lower ends of the inverted v-shaped used as 18 weight of body
And rear support, vertical with body 18, pitman arm 3 also verts therewith, and holding is parallel with Y-axis until body 18 is pulled up reality
Existing vertical takeoff when landing, controls the decrease speed of vertical state lower body 18, until the landing of support wheel 19 of its tail portion as
The supporting point of body 18 reduces the pulling force of propeller 17 and keeps it to be parallel to y-axis until landing is completed in the landing of nose-gear 21.
Embodiment 2:
It is described in embodiment 1 it is a kind of realize the existing method by the vertical landing of unmanned aerial vehicle, engine 10 is mounted in 18 water of body
Above flat center line x1.
Embodiment 3:
A kind of direction-variable power device for realizing the vertical landing method of existing unmanned aerial vehicle described in embodiment 1, by steering base 2,
Pitman arm 3 forms: 10 line shaft 9 of engine connects steering base 2, and the steering base 2 connects common axis 4, the common axis 4
Pitman arm 3 is connected, the steering base 2 connects steering gear worm 11,13 institute of 11 connecting worm 12 of steering gear worm and motor
The worm screw 12 stated and motor 13 connect engine 10, and the pitman arm 3 connects the worm gear 14 that verts, the company of worm gear 14 of verting
Worm screw 15 and motor 16 are connect, the worm screw 15 and motor 16 connect steering base 2.
Embodiment 4:
A kind of method for realizing the vertical landing of existing unmanned aerial vehicle described in embodiment 3, the common axis 4 connect power
The excessive elevating arc 5 of power described in excessive elevating arc 5 connects power input elevating arc on one side, and power described in 6 inputs elevating arc 6
Engine power axis 9 is connected, excessive 5 another side of elevating arc of the power connects power output elevating arc 7, and the power is defeated
Elevating arc 7 connects power output shaft 8 out, and the power output shaft 8 connects pitman arm 3, and the power output shaft 8 connects spiral shell
Revolve paddle 17.
The working principle of this method:
1, direction-variable power device 1 is installed on engine power axis 9, rotary steering base 2 centered on You Yiqi axis,
Connection can be formed with respect to the pitman arm 3 that steering base 2 verts, and 10 power of engine passes through 5,6,7 power output shaft 8 of fan gear
Propeller 17 is passed to, pitman arm 3, which interlocks verting for propeller 17, can produce unidirectional vector power, and since steering base 2 connects
The rotation of dynamic pitman arm 3, so that the existing unidirectional vector power that propeller 17 generates, generates not in 360 degree of spaces
With the vector pulling force or thrust in orientation, thus realizes and process is done by the work of orientation power output to vector power output.
2, since the engine on body 18 is equipped with direction-variable power device, the pitman arm 3 when taking off on horizontality body 18,
It interlocks propeller 17 and is verted upwards with respect to body 18 to y-axis is parallel to, be in an angle of 90 degrees with body, 17 pull-up head of propeller is double
Support wheel 19 on lower empennage 20 is vertical with body 18 as fulcrum, and pitman arm 3 also verts therewith to be remained and be parallel to
Y-axis, until body 18 is by vertical pull-up, under the using of vector power, vertical body 18 at this time, as helicopter one
Sample, can fly to any direction and vertical takeoff lands.
3, since direction-variable power device is above head horizontal center line x1, under vertical landing state, in 18 level of body
Heart line x1 deviates body weight center line x2, and body 18 generates relative angle a1 with the propeller 17 perpendicular to y-axis, and utilization is this
Feature makes body 18 and ground generate relative angle a2.
4, the support wheel 19 to land on empennage 20 at present is landed first as supporting point, since there are angles with ground for body 18
A2 is spent, head generates downward gravity, and reduce 17 pulling force of propeller at this time and it is kept to be parallel to y-axis, until nose-gear 21
Complete landing in ground.
Claims (4)
1. a kind of method for realizing the vertical landing of existing unmanned aerial vehicle, it is characterized in that: being arranged when unmanned aerial vehicle takes off in body head
The related propeller of the pitman arm in portion verts to Y direction, when verting to 90 degree mutual with body, propeller pull-up body head
Portion, the support wheel installed additional by the double oblique empennage lower ends of the inverted v-shaped used, carrying and rear support point as body weight,
With holding up for body, pitman arm also verts therewith and remains parallel to Y-axis, until body completes vertical rise by vertical pull-up
Fly, when landing, control the decrease speed of vertical body, until the support wheel landing of its tail portion is used as supporting point, reduces propeller
Pulling force and keep it to be parallel to y-axis, until nose-gear landing complete landing.
2. a kind of method for realizing the vertical landing of existing unmanned aerial vehicle according to claim 1, it is characterized in that: engine fills
Above organism level center line.
3. a kind of power for realizing a kind of method for realizing the vertical landing of existing unmanned aerial vehicle according to claim 1 or 2
Diverter, the direction-variable power device are made of steering base, pitman arm, it is characterized in that: engine power axis connection steering base, described
Steering base connects common axis, and the common axis connects pitman arm, and steering base connects steering gear worm, and the steering gear worm connects snail
Bar and motor, the worm screw and motor connect engine, and pitman arm connects the worm gear that verts, the worm gear connecting worm that verts
And motor, the endless screw electric motor connect steering base.
4. a kind of direction-variable power device of method for realizing the vertical landing of existing unmanned aerial vehicle according to claim 3, special
Sign is: sharing the excessive elevating arc of axis connection power, the excessive elevating arc of the power connects power input elevating arc on one side, described
Power input elevating arc connect engine power axis, the excessive elevating arc another side of power connects power output elevating arc, described
Power output elevating arc connect power output shaft, the power output shaft connects pitman arm, and the power output shaft connects
Connect propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410286207.XA CN105314107B (en) | 2014-06-24 | 2014-06-24 | A method of realizing the vertical landing of existing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410286207.XA CN105314107B (en) | 2014-06-24 | 2014-06-24 | A method of realizing the vertical landing of existing unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN105314107A CN105314107A (en) | 2016-02-10 |
| CN105314107B true CN105314107B (en) | 2019-03-05 |
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| CN201410286207.XA Expired - Fee Related CN105314107B (en) | 2014-06-24 | 2014-06-24 | A method of realizing the vertical landing of existing unmanned aerial vehicle |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905295A (en) * | 2016-06-14 | 2016-08-31 | 临沂高新区翔鸿电子科技有限公司 | Vertical take-off and landing fixed wing aircraft |
| CN109279007B (en) * | 2018-11-21 | 2024-06-18 | 西北工业大学 | Composite driving rotor wing fixed wing unmanned aerial vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6719244B1 (en) * | 2003-02-03 | 2004-04-13 | Gary Robert Gress | VTOL aircraft control using opposed tilting of its dual propellers or fans |
| CN101723089A (en) * | 2008-10-11 | 2010-06-09 | 李荣德 | Double-propeller inclinable vertical lifting wing spread airplane |
| CN102126553A (en) * | 2010-01-12 | 2011-07-20 | 北京航空航天大学 | Vertically taking off and landing small unmanned aerial vehicle |
| CN203638093U (en) * | 2013-12-17 | 2014-06-11 | 南京航空航天大学 | Tiltable four-rotor aircraft |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8931729B2 (en) * | 2011-10-31 | 2015-01-13 | King Abdullah II Design and Development Bureau | Sided performance coaxial vertical takeoff and landing (VTOL) UAV and pitch stability technique using oblique active tilting (OAT) |
| WO2013098736A2 (en) * | 2011-12-29 | 2013-07-04 | Alma Mater Studiorum - Universita' Di Bologna | A four-rotor helicopter |
-
2014
- 2014-06-24 CN CN201410286207.XA patent/CN105314107B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6719244B1 (en) * | 2003-02-03 | 2004-04-13 | Gary Robert Gress | VTOL aircraft control using opposed tilting of its dual propellers or fans |
| CN101723089A (en) * | 2008-10-11 | 2010-06-09 | 李荣德 | Double-propeller inclinable vertical lifting wing spread airplane |
| CN102126553A (en) * | 2010-01-12 | 2011-07-20 | 北京航空航天大学 | Vertically taking off and landing small unmanned aerial vehicle |
| CN203638093U (en) * | 2013-12-17 | 2014-06-11 | 南京航空航天大学 | Tiltable four-rotor aircraft |
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| CN105314107A (en) | 2016-02-10 |
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