CN105775121A - Wing-variable type unmanned aerial vehicle and method thereof - Google Patents
Wing-variable type unmanned aerial vehicle and method thereof Download PDFInfo
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- CN105775121A CN105775121A CN201410828784.7A CN201410828784A CN105775121A CN 105775121 A CN105775121 A CN 105775121A CN 201410828784 A CN201410828784 A CN 201410828784A CN 105775121 A CN105775121 A CN 105775121A
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Abstract
The invention discloses a wing-variable type unmanned aerial vehicle and a method thereof.The wing-variable type unmanned aerial vehicle comprises a vehicle body, two wings which are symmetrically arranged on the vehicle body and at least three propellers which are arranged on the vehicle body and the wings respectively, wherein the propellers arranged on the wings can do axial motion relative to the vehicle body.
Description
Technical field
The present invention relates to a kind of unmanned plane, particularly to a kind of variable wing type unmanned plane and method thereof, wherein said variable wing type unmanned plane can need based on different flight, adjusts state of flight.
Background technology
Along with the development of ecommerce, express transportation becomes more and more important.
It is known that vital two factors are exactly time and safety in express transportation.
When user have purchased commodity, it is possible to be eager to take commodity very much.Even without demand eager especially, if seeing that the commodity delivered in time are also the somethings being in a cheerful frame of mind.Still further aspect, the safety of transportation is also most important, if the user sees that breakage occurs in the thing sent here, it is possible to infering, the mood of user should be less joyful.
Another kind of situation, user is when posting some smallclothes things or some vital documents, and the requirement for the time can be higher, it may be necessary to delivers to the other side place within the extremely short time.May be based on posting many-sided factors such as the basic procedure of part, the configuration of human resources and traffic conditions, be no matter the commodity or the object being eager mailing bought in conveying, always the time has no idea to accomplish instant.
For such present situation, each large-scale express company is devoted to the research of unmanned plane transport.Existing various Multi-axis aircraft, is namely the trial in unmanned plane transport.In general, the structure of Multi-axis aircraft is, by multiple cross-coupled axles, constitutes flight wing.The end of each wing arranges a propeller, as actuating unit.Wing interconnection position i.e. position of centre of gravity are as carrying cargo position.But this Multi-axis aircraft is due to the construction features of himself, there are problems.
Due to the structure of Multi-axis aircraft sub-circular, do not meet aerodynamic Streamline Design so that it is in flight course, the resistance being subject to is bigger, the power that take-off process needs is also relatively big, and the electric energy therefore consumed is more, there is the distinct disadvantage that cruising time is short, voyage is short.
Accordingly for such problem, also occur in that the three axle unmanned planes imitating large aircraft and design.Existing three axle unmanned planes, general structure adopts canard configuration, and including a main wing and two groups of canards, two groups of canards are vertically connected at main wing side by side.Such unmanned plane is relative to Multi-axis aircraft, in structure, two kinds of new shapes of identical scale, canard configuration is subject to less resistance relative to Multi-axis aircraft, more meet air to take offence principle, therefore, when having identical power source, flying power and the voyage of three axle unmanned planes of canard configuration have and are relatively improved.Three axle unmanned planes of existing canard configuration improve some aspect, but still there is a lot of problem.
First, although Multi-axis aircraft structure does not have streamlined, due to its multiaxis feature, a propeller it is fitted with as power source in the end of each axle, therefore multiaxis also just has more power source, therefore three axle unmanned planes of canard configuration are adopted, change due to its structure, meeting on aerodynamic basis, the position that can install propeller is less, and the size of lift is relevant by the size of aircraft taxi process medium velocity, it is therefore necessary to has and certain slides place, reach certain speed, can take off.On the other hand, the air drag in the flight course structurally reduced, the power source that can be to provide reduces, and therefore still there is the place having much room for improvement in cruising time and voyage.
On the other hand, the unmanned plane of existing a kind of canard configuration, canard both sides install propeller as power source, as noted earlier, such unmanned plane, it is provided that power source less, taking off and flight course all having more highly difficult.
Additionally, for fast braking, in prior art, there is a kind of variable wing type unmanned plane, propeller is arranged on canard both sides, and the both sides of canard can rotate in certain angle.Taking off, flight, and in the process of landing, canard is in different states, thus changing propeller to provide the direction of power, therefore improves the performance of the unmanned plane of canard configuration to a certain extent.This variable wing type unmanned plane, the problem equally existing several aspect.
First, helicopter and Multi-axis aircraft are owing to the power source of its installation is generally all directly over fuselage, therefore can take off in less distance and can realize VTOL in other words, the unmanned plane of this canard configuration, due to the fuselage shape of the position of power source of its offer and elongation so that it is must have certain coasting distance, it is made to arrive certain speed, there is provided lift just can take off by wing, therefore can not realize VTOL, be unsuitable for the flight of little place.
Secondly, the aircraft of this canard configuration is insensitive for course control.It is to say, the speed of the propeller by changing wing both sides is changed course, the speed of adjustment is relatively slow, affects the accuracy of the line of flight.
3rd, the aircraft of this canard configuration can not realize the pitch control of end.It is to say, adjustable scope is only small in the change of vertical flying height, it is possible to arrive after a certain flying height carries out, it is necessary to changing suddenly flying height or the heading of aircraft, this situation is then difficult to.
The pluses and minuses that the various small aircrafts existed in comprehensive prior art exist, the present invention starts with from above-mentioned each side Problems existing, it is desirable to obtain a kind of unmanned plane being more suitable for and applying in small freight is transported.
Summary of the invention
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, wherein said variable wing type unmanned plane can need based on different flight, adjusts state of flight.
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, wherein said variable wing type unmanned plane can carry out landing in any place being suitable to landing, to expand the use scope of described variable wing type unmanned plane.
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, wherein said variable wing type unmanned plane has longer flying power, so that described variable wing type unmanned plane is suitable to the flight of distance.
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, aircraft relative to prior art, described variable wing type unmanned plane can have the flight characteristic of the distinctive stability of Multi-axis aircraft, when can also have a long boat, the flight characteristic of the Fixed Wing AirVehicle such as long-distance flight and high pneumatic efficiency, thus, described variable wing type unmanned plane, under the premise that need not increase deadweight, has good state of flight.
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, wherein said variable wing type unmanned plane can adjust state of flight rapidly, and especially described variable wing type unmanned plane can realize the adjustment from level flight condition to hovering flight state rapidly.
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, wherein said variable wing type unmanned plane provides multiple propellers, cooperation by every described propeller, described variable wing type unmanned plane is capable of the state of flights such as such as turning, underriding, new line, and the flight motility of described variable wing type unmanned plane can be ensured effectively.Such as, the turning of described variable wing type unmanned plane can be realized by the differential (speed discrepancy, namely every described propeller has different rotating speeds) of every described propeller.
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, the described propeller being wherein installed on a fuselage of described variable wing type unmanned plane can be a contrarotating propeller, so, the performance of having a smooth flight of described variable wing type unmanned plane accesses guarantee, to guarantee the flight safety of described variable wing type unmanned plane.
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, the layout of wherein said variable wing type unmanned plane is similar to the spatial layout feature of traditional canard vehicle, and its performance of having a smooth flight accesses and effectively ensures.
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, wherein said variable wing type unmanned plane, under high-incidence condition, has higher anti-stall ability.
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, wherein said variable wing type unmanned plane is particularly suitable for the air transport of shipping parcels.
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, wherein load may act on the lower position of described variable wing type unmanned plane center of gravity, having higher hovering degree of stability, by such mode, the flight safety of described variable wing type unmanned plane is ensured.
It is an object of the present invention to provide a kind of variable wing type unmanned plane and method thereof, wherein described variable wing type unmanned planes more than two framves or two framves can collaborative work, to realize the transport of the goods of the big scale of construction.In other words, described in multi rack, variable wing type unmanned plane can have good cooperative ability.
In order to achieve the above object, the present invention provides a kind of variable wing type unmanned plane, comprising:
One fuselage；
Two wings, every described wing is symmetrically disposed on described fuselage；And
At least three propellers, every described propeller is respectively arranged at described fuselage and every described wing, is provided with the described propeller in every described wing and is done the axially-movable relative to described fuselage.
A preferred embodiment according to the present invention, described variable wing type unmanned plane also includes power set, and described power set are arranged at described fuselage, and every described propeller is respectively coupled to described power set.
A preferred embodiment according to the present invention, described variable wing type unmanned plane also includes a toter, and described toter is arranged at described fuselage, and the center of the described toter application point and described fuselage that act on described fuselage is in same vertical direction.
A preferred embodiment according to the present invention, described variable wing type unmanned plane also includes a lifting gear, and described lifting gear is arranged at the lower section of described fuselage.
A preferred embodiment according to the present invention, every described propeller is selectively arranged at middle part or the end of described wing.
A preferred embodiment according to the present invention, every described wing includes a connection wing and respectively and adjusts the wing, every described connection wing is arranged at described fuselage, and every described adjustment wing is rotatablely arranged at every described connection wing, and every described propeller is respectively arranged at every described connection wing.
A preferred embodiment according to the present invention, every described wing includes a connection wing and respectively and adjusts the wing, every described connection wing is arranged at described fuselage, and every described adjustment wing is rotatablely arranged at every described connection wing, and every described propeller is respectively arranged at every described adjustment wing.
A preferred embodiment according to the present invention, every described propeller is had speed discrepancy.
A preferred embodiment according to the present invention, the described propeller being arranged at described fuselage is a contrarotating propeller.
A preferred embodiment according to the present invention, every described propeller includes at least one blade respectively, and every described blade is respectively provided with a bow oar face and a face of blade, and the curvature in described bow oar face is more than the curvature of described face of blade.
According to an aspect of the present invention, it also provides for a kind of variable wing type unmanned plane, comprising:
One fuselage；
At least two propellers；And
Two wings, every described wing includes a connection wing and respectively and adjusts the wing, wherein every described connection wing is symmetrically disposed on described fuselage, every described adjustment wing is rotatablely arranged at every described connection wing respectively, and every described propeller is selectively arranged at every described connection wing or every described adjustment wing.
A preferred embodiment according to the present invention, a described propeller is arranged at described fuselage, and described propeller is a contrarotating propeller.
A preferred embodiment according to the present invention, every described propeller is had speed discrepancy.
A preferred embodiment according to the present invention, every described propeller includes at least one blade respectively, and every described blade is respectively provided with a bow oar face and a face of blade, and the curvature in described bow oar face is more than the curvature of described face of blade.
A preferred embodiment according to the present invention, described variable wing type unmanned plane also includes power set, and described power set are arranged at described fuselage, and every described propeller is respectively coupled to described power set.
A preferred embodiment according to the present invention, described variable wing type unmanned plane also includes a toter, and described toter is arranged at described fuselage, and the center of the described toter application point and described fuselage that act on described fuselage is in same vertical direction.
A preferred embodiment according to the present invention, described variable wing type unmanned plane also includes a lifting gear, and described lifting gear is arranged at the lower section of described fuselage.
According to an aspect of the present invention, it also provides for the flying method of a kind of variable wing type unmanned plane, described variable wing type unmanned plane includes a fuselage and is symmetrically disposed on a wing of described fuselage, wherein said method adjusts between including making the propeller being respectively arranged at every described wing both horizontally and vertically, to change the state of flight of described variable wing type unmanned plane.
A preferred embodiment according to the present invention, in the above-mentioned methods, further comprises the steps of:
A () provides be symmetrically disposed on described fuselage one to connect the wing；
B () provides be rotatablely arranged at every described connection wing one to adjust the wing, every described connection wing and every described adjustment wing form every described wing respectively, and every described propeller is selectively arranged at every described connection wing or every described adjustment wing；And
C () makes every described adjustment wing in described horizontal direction and described vertical direction adjustment.
A preferred embodiment according to the present invention, in the above-mentioned methods, arranges a described propeller in described fuselage, and described propeller is a contrarotating propeller.
A preferred embodiment according to the present invention, in the above-mentioned methods, makes every described propeller produce speed discrepancy.
A preferred embodiment according to the present invention, in the above-mentioned methods, makes every described propeller produce speed discrepancy.
A preferred embodiment according to the present invention, every described propeller includes at least one blade respectively, and every described blade is respectively provided with a bow oar face and a face of blade, and the curvature in described bow oar face is more than the curvature of described face of blade.
Accompanying drawing explanation
Fig. 1 is schematic perspective view according to a preferred embodiment of the present invention.
Fig. 2 is the schematic perspective view of one variant embodiment of above preferred embodiment according to the present invention.
Fig. 3 is the schematic perspective view at a visual angle of the another preferred embodiment according to the present invention.
Fig. 4 is the schematic perspective view at the another visual angle of the above preferred embodiment according to the present invention.
Fig. 5 is the landing view of the variable wing type unmanned plane of the above preferred embodiment according to the present invention.
Fig. 6 is the floating state schematic diagram of the variable wing type unmanned plane of the above preferred embodiment according to the present invention.
Fig. 7 is the adjustment process schematic of the variable wing type unmanned plane of the above preferred embodiment according to present invention state from hovering flight to horizontal flight.
Fig. 8 is the level flight condition schematic diagram of the variable wing type unmanned plane of the above preferred embodiment according to the present invention.
Fig. 9 A and Fig. 9 B is that the variable wing type unmanned plane of the above preferred embodiment according to the present invention is at the schematic diagram of state of bowing, face upward respectively.
Figure 10 is the variable wing type unmanned plane schematic diagram at side steering state of the above preferred embodiment according to the present invention.
Figure 11 is the schematic diagram of a kind of operational mode of the variable wing type unmanned plane of the above preferred embodiment according to the present invention.
Figure 12 is the schematic diagram of a kind of control mode of the variable wing type unmanned plane of the above preferred embodiment according to the present invention.
Detailed description of the invention
It is described below for disclosing the present invention so that those skilled in the art are capable of the present invention.Preferred embodiment in being described below is only used as citing, it may occur to persons skilled in the art that other apparent modification.The ultimate principle of the present invention defined in the following description can apply to other embodiments, deformation program, improvement project, equivalent and the other technologies scheme without departing from the spirit and scope of the present invention.
It is variable wing type unmanned plane according to a preferred embodiment of the present invention as shown in Figure 1, it can be applied to the multiple different industries such as such as logistics transportation, because described variable wing type unmanned plane can need to be adjusted between different states based on flight, thus described variable wing type unmanned plane can improve efficiency and the safety of goods transportation.It should be understood by those skilled in the art that according to actual needs, described variable wing type unmanned plane may be applied to other industry and field, therefore, can not be taken as the restriction of content and scope at above-mentioned lifted example.
Specifically, described variable wing type unmanned plane includes the component of fuselage 10, two wing 20, at least two propeller 30 and other necessity, wherein every described wing 20 is symmetrically disposed on described fuselage 10, and every described propeller 30 is respectively arranged at described fuselage 10 and every described wing 20.Such as, in this embodiment in accordance with the invention, the quantity of described propeller 30 may be implemented as three, wherein every described propeller 30 can be respectively set at described fuselage 10 and every described wing 20, by such mode, described variable wing type unmanned plane balance quality under state of flight accesses and effectively ensures, thus, it is ensured that the flight safety of described variable wing type unmanned plane.
nullIt is worth mentioning that，In other example，Described variable wing type unmanned plane can also include two aileron 210 and empennages 220，Wherein every described aileron 210 is symmetrically disposed on the front portion of described fuselage 10，Described empennage 220 is arranged at the rear portion of described fuselage 10，And every described aileron 210 and every described wing 20 have identical bearing of trend，So that every described aileron 210、Every described wing 20 and described fuselage 10 constitute the agent structure of described variable wing type unmanned plane，By such mode，In some embodiments of the invention，Described variable wing type unmanned plane can have the structure of traditional aircraft，Such as，Described variable wing type unmanned plane can have canard configuration structure，To guarantee that described variable wing type unmanned plane has good balance and stability when flight，Thus ensureing the safety of flight.Preferably, described empennage 220 is arranged on the upside of the afterbody of described fuselage 10, to balance the momentum of described variable wing type unmanned plane.
It is worth mentioning that, every described aileron 210 is arranged at the front portion of described fuselage 10, every described wing 20 is arranged at the rear portion of described fuselage 10, and the size being smaller in size than every described wing 20 of every described aileron 210, thus, when described variable wing type unmanned plane is in state of flight, every described aileron 210 can be used in collaborative every described wing 20 provides lift to described variable wing type unmanned plane.
Further, in some embodiments of the invention, every described wing 20 has upper side 201 and a downside 202, the curvature of wherein said upper side 201 is preferably greater than the curvature of described downside 202, in other words, the degree of convexity of described upper side 201 is more than the degree of convexity of described downside 202, by such mode, on the one hand, the resistance of the air described variable wing type unmanned plane for being under state of flight can be reduced, thus, described variable wing type unmanned plane is made to have the speed of a ship or plane and farther flying distance faster, on the other hand, every described wing 20 can also be made to have better lift.It is noted that every described aileron 210 can also have the structure of every described wing 20, thus, make described variable wing type unmanned plane during flying safer, reliable.
Generally, the formalness of aircraft and its state of flight have close relatedness, such as, the configuration of aircraft and layout can be related to flight characteristic and the flying quality of aircraft, traditionally, needs time in order to meet different, the formalness of different types of aircraft can be different, such as, in this embodiment in accordance with the invention, described variable wing type unmanned plane can form traditional canard configuration structure, by such mode, described variable wing type unmanned plane can be made to do such as facing upward of big intensity, during the action of the mobility such as tight spiral, the every described aileron 210 of described variable wing type unmanned plane and every described wing 20 all can produce to make described variable wing type unmanned plane ambient air form powerful eddy current, intercoupling between the eddy current of varying strength can strengthen the lift of its generation.Particularly under the state that described variable wing type unmanned plane is in At High Angle of Attack, every described aileron 210 has only to reduce generation lift can make described variable wing type aircraft produce nose-down pitching moment, thus, effectively it is guaranteed at the described variable wing type unmanned plane under At High Angle of Attack state and is suppressed the controllability excessively come back.Therefore, in specific embodiment, adopt the described variable wing type unmanned plane of canard configuration can make it have better controllability.
While it is true, it should be understood by those skilled in the art that in other the embodiment of the present invention, described variable wing type unmanned plane can also have other kinds of layout, to meet different flight needs.Therefore, adopting the described variable wing type unmanned plane of canard configuration to be only used as an example to describe the advantage of described variable wing type unmanned plane, it is not intended as the restriction to present disclosure and scope.
As shown in Figure 1, it it is described variable wing type unmanned plane according to a preferred embodiment of the present invention, it is provided with being defined as a fuselage propeller 31 in the described propeller 30 of described fuselage 10, accordingly, the every described propeller 30 being arranged at every described wing 20 is defined as a wing propeller 32, it is to be understood that in various embodiments, the type of described fuselage propeller 31 and every described wing propeller 32 can be consistent, it is also possible to inconsistent.Such as, in this embodiment, every described wing propeller 32 can have the structure of traditional propeller, and described fuselage propeller 31 is implemented as a contrarotating propeller 31, to strengthen the flying quality of described variable wing type unmanned plane.
Wherein every described wing propeller 32 is rotatablely arranged at every described wing 20 respectively, so that every described wing propeller 32 can do the axially-movable relative to described fuselage 10.Specifically, set described fuselage 10 direction as horizontal direction, setting height direction is vertical direction, in this embodiment in accordance with the invention, every described wing propeller 32 can adjust between described horizontal direction and described vertical direction, to change the state of flight of described variable wing type unmanned plane, thus, it is achieved described variable wing type unmanned plane adjusts between horizontal flight and the state of hovering flight.That is, in the present invention, the every described propeller 30 being arranged at every described wing 20 is done the axially-movable relative to described fuselage 10, so that when every described propeller 30 is in described horizontal direction, described variable wing type unmanned plane can fly rapidly with level flight condition, when every described propeller 30 is in described vertical direction, described variable wing type unmanned plane can fly with hovering flight state.Relative to the aircraft of prior art, described variable wing type unmanned plane has significant progress.
It is noted that in this embodiment as described in Figure 1, every described wing propeller 32 can be arranged at the end of every described wing 20；In this embodiment as described in Figure 2, every described wing propeller 32 can also be arranged at the middle part of every described wing 20.In other words, every described wing propeller 32 can be selectively arranged at end or the middle part of every described wing 20, as such, it is possible to make the topology layout of described variable wing type unmanned plane can be chosen based on needs.It should be appreciated that every described wing propeller 32 is in other examples, it is also possible to be arranged at other any can effective position, and guarantee that every described wing propeller 32 can be adjusted in described horizontal direction and described vertical direction.
It is worth mentioning that, differential (speed discrepancy by described fuselage propeller 31 and every described wing propeller 32, namely every described propeller 30 can have different rotating speeds), described variable wing type unmanned plane can also be made easily to realize the adjustment of state of flights such as such as turning to, to improve the motility under state of flight of the described variable wing type unmanned plane.
Being variable wing type unmanned plane according to another preferred embodiment of the invention as shown in Figure 3 and Figure 4, relative to above preferred embodiment, described variable wing type unmanned plane can realize the adjustment of the state from the state of horizontal flight to hovering flight rapidly.
Specifically, every described wing 20 includes a connection wing 21 and respectively and adjusts the wing 22, wherein every described connection wing 21 is arranged at described fuselage 10, every described adjustment wing 22 is rotatably connected at every described connection wing 21 respectively, such as, in this embodiment, every described connection wing 21 is every described wing 20 part near described fuselage 10, and every described adjustment wing 22 is every described wing 20 part away from described fuselage 10.By adjusting the direction of every described adjustment wing 22, described variable wing type unmanned plane can be made to be capable of the quick adjustment of the state from the state of horizontal flight to hovering flight, it is possible to so that described variable wing type unmanned plane is capable of the adjustment of the state from the state of hovering flight to horizontal flight.In some embodiments of the invention, every described wing propeller 32 can be arranged at every described connection wing 21, by driving every described wing propeller 32 to adjust described vertical direction with every described adjustment wing 22 from described horizontal direction respectively, it is possible to make described variable wing type unmanned plane be capable of the quick adjustment of the state from the state of horizontal flight to hovering flight.In other embodiments of the present invention, every described wing propeller 32 can also be arranged at every described adjustment wing 22, so, every described wing propeller 32 can be synchronously driven to adjust described vertical direction with every described adjustment wing 22 from described horizontal direction, so that the state of flight of described variable wing type unmanned plane can faster and more easily be adjusted so that the controllability and motility that improve described variable wing type unmanned plane.
Preferably, every described wing propeller 32 is parallel with the every described adjustment wing 22 of correspondence position respectively, and specifically, when every described wing propeller 32 is in described horizontal direction, every described adjustment wing 22 also is located at described horizontal direction；Correspondingly, when every described wing propeller 32 is in described vertical direction, every described adjustment wing 22 also is located at described vertical direction, because every described wing propeller 32 is arranged at every described adjustment wing 22, when driving every described adjustment wing 22 to rotate, every described wing propeller 32 can automatically rotate, in other words, and the synchronized movement of every described wing propeller 32 and every described adjustment wing 22.
Further, every described propeller 30 also includes at least one blade 33, the every described propeller 30 that every described blade 33 is formed can concurrently form an axle, so that every described blade 33 can both rotate with described axle for axle, it is worth mentioning that, the described propeller 30 of diverse location can have the every described blade 33 of identical quantity and identical structural grouping, it is possible to have the every described blade 33 of varying number or different structure combination.Such as, in this example shown in Fig. 3 and Fig. 4, the quantity of the described blade 33 of described fuselage propeller 31 can be six, wherein described in each two, blade 33 is arranged overlappingly, to form the starching of described fuselage propeller 31 and lower slurry, the quantity of the described blade 33 of every described wing propeller 32 can be two, thus, make described fuselage propeller 31 and every described wing propeller 32 can have different functions.Those skilled in the art are to be understood that, described fuselage propeller 31 and the type of every described wing propeller 32 cited by above-mentioned example are only used as exemplary explanation, in other examples, described fuselage propeller 31 and every described wing propeller 32 can also have other structure, therefore, it can not be taken as the restriction of content and scope.
Described variable wing type unmanned plane also includes power set 40, described power set 40 are arranged at described fuselage 10, power source is provided for for described variable wing type unmanned plane, wherein every described propeller 30 can be coupled to described power set 40, in the process of described variable wing type unmanned plane during flying, described power set 40 are by driving the rotation of every described propeller 33, the state of flight different to realize described variable wing type unmanned plane, it is understood that the flight that described power set 40 are similarly described variable wing type unmanned plane provides power source.Especially, described power set 40 can make every described propeller 33 have different rotating speeds to make generation speed difference between every described propeller 32 respectively, to form the differential between every described propeller 30, such as, by changing the rotating speed of described fuselage propeller 31, described variable wing type unmanned plane can be made to make the flare maneuver coming back or diving, by making every described wing propeller 32 have different rotating speeds, described variable wing type unmanned plane can be assisted to perform the corresponding actions such as turning, by such mode, the state of flight that described variable wing type unmanned plane is different can be adjusted, thus, improve the motility of described variable wing type unmanned plane.
In this embodiment of the present invention, described fuselage propeller 31 is equally possible is implemented as described contrarotating propeller 31, wherein said contrarotating propeller 31 is coupled to described power set 40, described power set 40 can drive described contrarotating propeller 31 to rotate, and described power set 40 can control the rotating speed of described contrarotating propeller 31.In other words, by described power set 40, can make to be implemented as the described fuselage propeller 31 of described contrarotating propeller 31 and every described wing propeller 32 has identical or different rotating speed, adjust the state of flight of described variable wing type unmanned plane synergistically, thus, strengthen the performances such as the such as flight motility of described variable wing type unmanned plane, having a smooth flight property, flight safety.
It is worth mentioning that, by adjusting every described propeller 30 and the position of every described adjustment wing 22, described variable wing type unmanned plane can be made to have different state of flights, in the such as example shown in Fig. 5 to Figure 10, the present invention is arranged at this specific embodiment of every described adjustment wing 22 with every described wing propeller 32, every described wing propeller 32 and every described adjustment wing 22 concrete condition when different are described, so that present disclosure and advantage are had further understanding by those skilled in the art.
In the present invention, when every described adjustment wing 22 and every described wing propeller 32 being adjusted described vertical direction from described horizontal direction and adjust described horizontal direction from described vertical direction, described variable wing type unmanned plane has different states.Such as, in one embodiment of the invention, when the every described adjustment wing 22 of described variable wing type unmanned plane and every described wing propeller 32 are to be in described horizontal direction and start flight course for inceptive direction, the process that described variable wing type unmanned plane experiences can be but not limited to " ground-take off-horizontal flight-come back or bow-lateral turning-hovering-horizontal flight-landing-ground "；Accordingly, when the every described adjustment wing 22 of described variable wing type unmanned plane and every described wing propeller 32 are to be in described vertical direction and start flight course for inceptive direction, the process that described variable wing type unmanned plane experiences can be but not limited to " ground-take off-hover-horizontal flight-bow or come back-lateral turning-hovering-landing-ground ".It is understood that no matter described variable wing type unmanned plane starts flight with which kind of state, described variable wing type unmanned plane can be adjusted in the process of flight between horizontal flight and the state of hovering flight, to meet different flight needs.Those skilled in the art are to be understood that, with the described variable wing type unmanned plane that different original states carry out flying, different requirements is had for place, such as, when described variable wing type unmanned plane carries out flight with described vertical direction for original state with the described adjustment wing 22 and described wing propeller 32, described variable wing type unmanned plane can realize vertical taking off, certainly, described variable wing type unmanned plane can also realize vertical landing, so, the landing action of described variable wing type unmanned plane can be subject to the restriction of flying field as few as possible, its action allowing to complete takeoff and landing on little place.
In the following description of the present invention, the flight course of described variable wing type unmanned plane is described in detail and discloses to be in described vertical direction for inceptive direction by the every described adjustment wing 22 and the every described wing propeller 32 with described variable wing type unmanned plane.
As shown in Figure 5, when described variable wing type unmanned plane need by stop at ground take off vertically time, namely described variable wing type unmanned plane with described vertical direction for inceptive direction start to perform flare maneuver time, first every described adjustment wing 22 and every described wing propeller 32 can be adjusted described vertical direction from described horizontal direction, now, every described adjustment wing 22 can be perpendicular to every described connection wing 21, and described power set 40 can drive the every described blade 33 of described fuselage propeller 31 and every described wing propeller 32 to rotate respectively.
Such as, defining the space residing for described variable wing type unmanned plane is that XYZ is axial, and wherein definition X axis and Y-axis are described horizontal direction, and definition Z-axis direction is described vertical direction.When described variable wing type unmanned plane needs to produce flare maneuver upwards, the described adjustment wing 22 and every described wing propeller 32 are all in described vertical direction, accordingly, the every described blade 33 of described fuselage propeller 31 and every described wing propeller 32 can rotate in described horizontal direction with described axle for axle.nullIn the process of described fuselage propeller 31 and every described blade 33 high-speed rotation of every described wing propeller 32，Front slurry face and the rear slurry face of every described blade 33 can be subject to the counteracting force from air respectively，In the present invention，Front slurry face and the rear slurry face of every described blade 33 have different curvature，The curvature in the front slurry face of such as every described blade 33 starches the curvature in face after being preferably greater than，Now，The air velocity in the front slurry face of every described blade 33 can more than the air velocity in the rear slurry face of corresponding described blade 33，Thus，The air pressure that the air pressure that the front slurry face of every described blade 33 is subject to is subject to more than the rear slurry face of corresponding described blade 33，Pressure differential forward and up can be formed in the front slurry face of every described blade 33 and rear slurry face，And this pressure differential can based on upwards，Thus providing lift forward and upwards to described variable wing type unmanned plane，To drive described variable wing type unmanned plane to realize substantially vertical take-off process.And in this process, the starching of described fuselage propeller 31 and lower slurry rotate in a reverse direction under the driving of described power set 40, provide lift upwards to described variable wing type unmanned plane with collaborative every described wing propeller 32.
Additionally, in this process, the every described adjustment wing 22 being in described vertical direction can be subject to the air drag of described horizontal direction, it is understandable that, because the increase of lifting surface area, every described adjustment wing 22 can more than its air drag being subject in described horizontal direction at the air drag that described vertical direction is subject to.
Specifically, after analyzing described variable wing type unmanned plane stressing conditions in whole process, those skilled in the art should appreciate that, when every described adjustment wing 22 is in described vertical direction, described variable wing type unmanned plane is limited primarily by described fuselage propeller 31 and the lift obliquely of every described wing propeller 31 offer, simultaneously described variable wing type unmanned plane are subject to the air drag of described horizontal direction and have gravity because of the deadweight of described variable wing type unmanned plane.When the rotating speed adjusting described fuselage propeller 31 and every described wing propeller 32 changes lift obliquely, the air drag of the described horizontal direction that described variable wing type unmanned plane is subject to also can change accordingly.In this process, after lift obliquely decomposes, balance each other and when the power of described vertical direction is more than the gravity of described variable wing type unmanned plane at the air drag in described horizontal direction that power and the described variable wing type unmanned plane of described horizontal direction are subject to, described variable wing type unmanned plane can move vertically upward, thus, described variable wing type unmanned plane can realize taking off vertically.
As shown in Figure 7, at described variable wing type unmanned plane in the state of flight, when the every described adjustment wing 22 of described variable wing type unmanned plane and every described wing propeller 32 are adjusted described horizontal direction from the described vertical direction of original state, now, every described adjustment wing 22 can be consistent with the direction of every described connection wing 21, equally, described power set 40 still can drive described fuselage propeller 31 and every described wing propeller 32 to rotate.
Specifically, in this process, the every described adjustment wing 22 and every described wing propeller 32 of described variable wing type unmanned plane are adjusted described horizontal direction from described vertical direction, and now, the every described blade 33 of described wing propeller 32 can in described vertical direction high-speed rotation.More specifically, in the process of every described blade 33 high-speed rotation of every described wing propeller 32, the front slurry face of every described blade 33 and rear slurry face all can be subject to the pressure of the air of relevant position.The curvature in the same front slurry face because of every described blade 33 is more than the curvature in the rear slurry face of corresponding described blade 33, the air velocity in the front slurry face of every described blade 33 is more than the air velocity in the rear slurry face of corresponding described blade 33, thus, the air pressure being subject on the front slurry face of every described blade 33 can more than the air pressure in the rear slurry face of corresponding described blade 33, now, pressure differential downward backward can be formed between the front slurry face and rear slurry face of every described blade 33, and based on backward.In this process, described variable wing type unmanned plane can be subject to air effect in the counteracting force of every described blade 33, to provide described variable wing type unmanned plane power forward.And in this process, the starching of described fuselage propeller 31 and lower slurry rotate in a reverse direction under the driving of described power set 40, provide lift upwards to described variable wing type unmanned plane with collaborative every described wing propeller 32.
It is noted that in this process, every described connection wing 21 and the every described adjustment wing 22 being in described horizontal direction are limited primarily by the lift of described vertical direction.
Specifically, after analyzing described variable wing type unmanned plane stressing conditions in whole process, those skilled in the art should appreciate that, when every described adjustment wing 22 is in described horizontal direction, described variable wing type unmanned plane is limited primarily by the lift upwards that every described wing 20 provides, described variable wing type unmanned plane can be subject to the air drag of described horizontal direction, described variable wing type unmanned plane can be subject to the counteracting force of air forward and described variable wing type unmanned plane can be subject to the gravity of described vertical direction.Mainly changing the active force of described horizontal direction adjusting every described wing propeller 32, adjust after described fuselage propeller 31 changes lift obliquely, the resistance of the described horizontal direction that described variable wing type unmanned plane is subject to also can change accordingly.And when the dynamic balance of the described horizontal direction that described variable wing type unmanned plane is subject to and described vertical direction, described variable wing type unmanned plane can keep horizontal flight.
Those skilled in the art should appreciate that, when every described adjustment wing 22 and every described wing propeller 32 are in described horizontal level, described fuselage propeller 31 can provide more power source, and every described wing propeller 32 also can provide the power source of auxiliary, so that described variable wing type unmanned plane is capable of the longer time, flies more at a distance, and described variable wing type unmanned plane can be made to have higher pneumatic efficiency.It is worth mentioning that, in this state, especially described variable wing type unmanned plane is when the flight of At High Angle of Attack, every described aileron 210 can prior to the stall of every described wing 20, now, the front portion of described fuselage 10 can automatic nutation, therefore, relative to traditional Fixed Wing AirVehicle, described variable wing type unmanned plane has higher anti-stall ability.
Accordingly, in the state of flight of described variable wing type unmanned plane in the process adjusted from horizontal flight to hovering flight, every described adjustment wing 22 and every described wing propeller 32 can be adjusted to described vertical direction from described horizontal direction, and now, the described adjustment wing 22 can be perpendicular to the described connection wing 21.The every described blade 33 of described wing propeller 32 can rotate in described horizontal direction, and in the process of every described blade 33 high-speed rotation, the front slurry face of every described blade 33 and rear slurry face all can be subject to the pressure of air.And owing to the curvature in front slurry face of every described blade 33 is more than the curvature in rear slurry face, therefore, the air pressure in the air pressure that every described blade 33 front slurry face is subject to or the rear slurry face more than corresponding described blade 33, thus, pressure differential forward and up is formed between the front slurry face and rear slurry face of described blade 33, and based on upwards, to provide described variable wing type unmanned plane lift forwardly and upwardly.
Additionally, in this process, the every described adjustment wing 22 being in described vertical direction can be subject to the air drag of described horizontal direction, it is to be understood that every described adjustment wing 22 can more than its air drag being subject in described horizontal direction at the air drag that described vertical direction is subject to.
Specifically, after analyzing described variable wing type unmanned plane stressing conditions in whole process, those skilled in the art should appreciate that, when every described adjustment wing 22 is in described vertical direction, described variable wing type unmanned plane is limited primarily by described fuselage propeller 31 and the lift obliquely of every described wing propeller 31 offer, described variable wing type unmanned plane can be subject to the air drag of described horizontal direction and have gravity because of the deadweight of described variable wing type unmanned plane.When the rotating speed adjusting described fuselage propeller 31 and every described wing propeller 32 changes lift obliquely, the air drag of the described horizontal direction that described variable wing type unmanned plane is subject to also can change accordingly.After lift obliquely decomposes, when balancing each other at the air drag in described horizontal direction that power and the described variable wing type unmanned plane of described horizontal direction are subject to and balance each other with the gravity of described variable wing type unmanned plane in the power of described vertical direction, described variable wing type unmanned plane will not move to any direction, thus, described variable wing type unmanned plane is made to realize the state of flight of hovering flight, as shown in Figure 6.
It is worth mentioning that, at every described adjustment wing 22 from described horizontal direction to the process that described vertical direction adjusts, the air drag that every described adjustment wing 22 is subject to can increase due to the increase of lifting surface area, now, the flight speed of described variable wing type unmanned plane can be greatly affected, to such an extent as to enable described variable wing type unmanned plane to be adjusted to the state of flight of low speed rapidly from state of flight at a high speed, and finally realize hovering flight, thus, make described variable wing type unmanned plane have stable flight characteristic.Relative to the Multi-axis aircraft of prior art, described variable wing type unmanned plane has significant progress.
nullAs shown in fig. 9 a and fig. 9b，When the state of flight of described variable wing type unmanned plane is adjusted to, from hovering flight, the state of flight coming back or bowing，Now，Action up or down can be made in the front portion of the described fuselage 10 of described variable wing type unmanned plane，When described variable wing type unmanned plane is in hovering flight state，By adjusting described fuselage propeller 31 and the rotating speed of every described wing propeller 32，So that described fuselage propeller 31 and every described wing propeller 32 have different rotating speeds，Thus there is relative differential between described fuselage propeller 31 and every described wing propeller 32，Make described variable wing type unmanned plane in described vertical direction by force unbalance，So that resultant direction is up or down，Thus，Described variable wing type unmanned plane is made to realize bowing and nose-up pitching moment，Now，Described variable wing type unmanned plane is capable of flight up and down.
Such as, when described fuselage 10 needs to produce moment upwards, described fuselage propeller 31 and every described wing propeller 32 is made to have different rotating speeds by described power set 40, make it that unbalanced rotor differential to occur, as, increasing the rotating speed of described fuselage propeller 31, the rotating speed keeping described wing propeller 32 is constant, it is possible to produce nose-up pitching moment；Or the rotating speed keeping fuselage propeller 31 is constant, reduces the rotating speed of described wing propeller 32, produces nose-up pitching moment equally；Or adjust described fuselage propeller 31 and the rotating speed of described wing propeller 32 simultaneously, make the relative velocity being positioned at the described fuselage propeller 31 of the described fuselage 10 front portion relative velocity more than the every described wing propeller 32 being positioned at described fuselage 10 rear portion, so that described fuselage 10 produces nose-up pitching moment upwards.
Correspondingly, when described fuselage 10 needs to produce downward moment, described fuselage propeller 31 and the rotating speed of described wing propeller 32 is regulated by described power set 40, make it that unbalanced rotor differential to occur, as, reducing the rotating speed of described fuselage propeller 31, the rotating speed keeping every described wing propeller 32 is constant, produces nose-down pitching moment；Or the rotating speed keeping described fuselage propeller 31 is constant, increases the rotating speed of every described wing propeller 32, produce nose-down pitching moment equally；Or adjust described fuselage propeller 31 and the rotating speed of every described wing propeller 32 simultaneously, make the relative velocity being positioned at the described fuselage propeller 31 of the described fuselage 10 front portion relative velocity less than the described wing propeller 32 being positioned at described fuselage 10 rear portion, so that described fuselage 10 produces downward nose-up pitching moment.
In the state of flight of described variable wing type unmanned plane by bowing or when new line state is adjusted to turning flight state, described fuselage propeller 31 works in coordination with the action of every described wing propeller 32, realizes the turning flight of described variable wing type unmanned plane.Specifically, described fuselage propeller 31 and the relative velocity of every described wing propeller 32 are adjusted so that differential is laterally occurring, so that the front portion of described fuselage 10 turns to side.Such as, the velocity of rotation keeping described fuselage propeller 31 is constant, changes the speed of wing propeller 32 described in any of in every described wing propeller 32, and described fuselage 10 there will be side moment, thus realizing turning to side.Those skilled in the art are appreciated that when described variable wing type unmanned plane is in the state of flight bowed or come back, and differential comes across described fuselage propeller 31 and every described wing propeller 32, and now, the rotating speed of every described wing propeller 32 is consistent；When described variable wing type unmanned plane is in lateral turn condition, differential comes across between described fuselage propeller 31 and every described wing propeller 32, and now, the rotating speed between every described wing propeller 32 is also inconsistent.
As shown in Figure 10, when the state of flight of described variable wing type unmanned plane is adjusted to vertical decline state from lateral turn condition, by adjusting described fuselage propeller 31 and the relative velocity of every described wing propeller 32, and adjust the direction of every described adjustment wing 22, every described adjustment wing 22 is made to be adjusted to described vertical direction with every described wing propeller 32 from described horizontal direction, accordingly, adjusting described fuselage propeller 31 and every described wing propeller 32 changes lift obliquely, the air drag of described horizontal direction also can change accordingly.After described lift obliquely decomposes, the power in described horizontal direction balances each other and when the power of described vertical direction is less than described gravity at the air drag that described horizontal direction is subject to described variable wing type unmanned plane, described variable wing type unmanned plane can vertically do descending motion, thus, it is achieved that the vertical landing of described variable wing type unmanned plane.
Described variable wing type unmanned plane can also include a toter 50, described toter 50 can be selectively set in the inside or below of described fuselage 10, wherein said toter 50 can be used to be contained in transported article etc., when described variable wing type unmanned plane is in the state of flight, described toter 50 and be installed in the article within described toter 50 and act on the application point of described fuselage 10 and be positioned at the center of gravity of described fuselage 10 or the lower section of center of gravity, in this way it can be ensured that the flight safety of described variable wing type unmanned plane.nullSuch as，In this example of such as Figure 11，Described variable wing type unmanned planes more than two framves or two framves can also be worked in coordination with and be delivered article，Specifically，Variable wing type unmanned plane described in multi rack is when delivering article by described toter 50，Article act on the application point of described fuselage 10 by described toter 50 can in the underface of the position of centre of gravity of described fuselage 10，That is，Article act on the application point of described fuselage 10 and the center of gravity of described fuselage 10 in same vertical direction (i.e. described article act on the application point of described fuselage 10 by described toter 50 coaxial with the center of gravity of described fuselage 10) by described toter 50，Thus，Guarantee that described variable wing type unmanned plane is in the process of transport article，It has good having a smooth flight property，To further ensure that the flight safety of described variable wing type unmanned plane.
Described variable wing type unmanned plane can also include a lifting gear 60, wherein said lifting gear 60 is arranged at the bottom of described fuselage 10, for assisting described variable wing type unmanned plane landing, as shown in Figure 3, described lifting gear 60 may be implemented as a landing frame in a concrete example, however, those skilled in the art are to be understood that, in other the embodiment of the present invention, described lifting gear 60 can also be implemented as lifting wheel or similar device in other examples, therefore, the type of described lifting gear 60 can not be taken as the restriction of content and scope.
As shown in figure 12, described variable wing type unmanned plane can also be controlled device 70 by one and control, specifically, described power set 40 are communicably connected in described control device 70, operator can utilize described control device 70 to export, by controlling the energy of described power set 40, the rotating speed and the state that control every described propeller 30, thus, make to realize the switching under different state of flights of the described variable wing type unmanned plane by generation differential between every described propeller 30.Such as, in the present invention, operator can utilize described control device 70 to increase the rotating speed of the described propeller 30 being implemented as described fuselage propeller 31, so that described variable wing type unmanned plane has the flare maneuver of new line.However, it should be understood by those skilled in the art that described control device 70 can also to the Automated condtrol of described variable wing type unmanned plane, say, that, can in described control device 70 setting program, be operated substituting operator's state of flight to described variable wing type unmanned plane.
Accordingly, the present invention also provides for the flying method of a kind of variable wing type unmanned plane, and wherein relative to the Fixed Wing AirVehicle of prior art and Multi-axis aircraft, the described flying method of described variable wing type unmanned plane has significant progress.Specifically, described method includes making the every described propeller 30 being respectively arranged at every described wing 20 adjust between described horizontal direction and described vertical direction, to change the state of flight of described variable wing type unmanned plane.
Preferably, described method also includes step.
A () provides the described connection wing 21 being symmetrically disposed on described fuselage 10.
B () provides the described adjustment wing 22 being rotatablely arranged at every described connection wing 21, every described connection wing 21 and every described adjustment wing 22 form every described wing 20 respectively, and every described propeller 30 is selectively arranged at every described connection wing 21 or every described adjustment wing 22.It is worth mentioning that, in this embodiment as shown in Figure 3 of the present invention, the every described propeller 33 being implemented as described wing propeller 32 is arranged at the described adjustment wing 22, so that every described wing propeller 32 can with the synchronized movement of every described adjustment wing 22.However, those skilled in the art are to be understood that, even if being arranged in this embodiment of the described connection wing 21 at described wing propeller 32, by adjusting the position of described wing propeller 32 and the described adjustment wing 22 respectively, it is also possible to reach same purpose.
C () makes every described adjustment wing 22 adjust between described horizontal direction and described vertical direction.By such mode, described variable wing type unmanned plane is in follow-up flight course, and its state of flight can be changed neatly.
It is worth mentioning that, in the above-mentioned methods, by making generation speed discrepancy between every described propeller 30, described variable wing type unmanned plane can be made to be adjusted between different state of flights, such as, the flight courses such as described variable wing type unmanned plane can realize such as coming back, bows, turning, it is thus possible to increase the motility of described variable wing type unmanned plane.
It should be understood by those skilled in the art that the embodiments of the invention shown in foregoing description and accompanying drawing are only used as citing and are not limiting as the present invention.The purpose of the present invention is completely and be effectively realized.The function of the present invention and structural principle are shown in an embodiment and illustrate, without departing under described principle, embodiments of the present invention can have any deformation or amendment.
Claims (23)
1. a variable wing type unmanned plane, it is characterised in that including:
One fuselage；
Two wings, every described wing is symmetrically disposed on described fuselage；And
At least three propellers, every described propeller is respectively arranged at described fuselage and every described wing, is provided with the described propeller in every described wing and is done the axially-movable relative to described fuselage.
2. variable wing type unmanned plane as claimed in claim 1, wherein said variable wing type unmanned plane also includes power set, and described power set are arranged at described fuselage, and every described propeller is respectively coupled to described power set.
3. variable wing type unmanned plane as claimed in claim 1, wherein said variable wing type unmanned plane also includes a toter, described toter is arranged at described fuselage, and the center of the described toter application point and described fuselage that act on described fuselage is in same vertical direction.
4. variable wing type unmanned plane as claimed in claim 1, wherein said variable wing type unmanned plane also includes a lifting gear, and described lifting gear is arranged at the lower section of described fuselage.
5. the variable wing type unmanned plane as described in arbitrary in Claims 1-4, wherein every described propeller is selectively arranged at middle part or the end of described wing.
6. the variable wing type unmanned plane as described in arbitrary in Claims 1-4, wherein every described wing includes a connection wing and an adjustment wing respectively, every described connection wing is arranged at described fuselage, every described adjustment wing is rotatablely arranged at every described connection wing, and every described propeller is respectively arranged at every described connection wing.
7. the variable wing type unmanned plane as described in arbitrary in Claims 1-4, wherein every described wing includes a connection wing and an adjustment wing respectively, every described connection wing is arranged at described fuselage, every described adjustment wing is rotatablely arranged at every described connection wing, and every described propeller is respectively arranged at every described adjustment wing.
8. variable wing type unmanned plane as claimed in claim 7, wherein every described propeller is had speed discrepancy.
9. variable wing type unmanned plane as claimed in claim 7, be provided with in the described propeller of described fuselage be a contrarotating propeller.
10. variable wing type unmanned plane as claimed in claim 7, wherein every described propeller includes at least one blade respectively, and every described blade is respectively provided with a bow oar face and a face of blade, and the curvature in described bow oar face is more than the curvature of described face of blade.
11. a variable wing type unmanned plane, it is characterised in that including:
One fuselage；
At least two propellers；And
Two wings, every described wing includes a connection wing and respectively and adjusts the wing, wherein every described connection wing is symmetrically disposed on described fuselage, every described adjustment wing is rotatablely arranged at every described connection wing respectively, and every described propeller is selectively arranged at every described connection wing or every described adjustment wing.
12. variable wing type unmanned plane as claimed in claim 11, one of them described propeller is arranged at described fuselage, and described propeller is a contrarotating propeller.
13. the variable wing type unmanned plane as described in claim 11 or 12, wherein every described propeller is had speed discrepancy.
14. variable wing type unmanned plane as claimed in claim 13, wherein every described propeller includes at least one blade respectively, and every described blade is respectively provided with a bow oar face and a face of blade, and the curvature in described bow oar face is more than the curvature of described face of blade.
15. variable wing type unmanned plane as claimed in claim 14, wherein said variable wing type unmanned plane also includes power set, and described power set are arranged at described fuselage, and every described propeller is respectively coupled to described power set.
16. variable wing type unmanned plane as claimed in claim 15, wherein said variable wing type unmanned plane also includes a toter, described toter is arranged at described fuselage, and the center of the described toter application point and described fuselage that act on described fuselage is in same vertical direction.
17. variable wing type unmanned plane as claimed in claim 16, wherein said variable wing type unmanned plane also includes a lifting gear, and described lifting gear is arranged at the lower section of described fuselage.
18. the flying method of a variable wing type unmanned plane, it is characterized in that, described variable wing type unmanned plane includes a fuselage and is symmetrically disposed on a wing of described fuselage, wherein said method adjusts between including making the propeller being respectively arranged at every described wing both horizontally and vertically, to change the state of flight of described variable wing type unmanned plane.
19. flying method as claimed in claim 18, wherein in the above-mentioned methods, further comprise the steps of:
A () provides be symmetrically disposed on described fuselage one to connect the wing；
B () provides be rotatablely arranged at every described connection wing one to adjust the wing, every described connection wing and every described adjustment wing form every described wing respectively, and every described propeller is selectively arranged at every described connection wing or every described adjustment wing；And
C () makes every described adjustment wing in described horizontal direction and described vertical direction adjustment.
20. the flying method as described in claim 18 or 19, wherein in the above-mentioned methods, a described propeller is set in described fuselage, and described propeller is a contrarotating propeller.
21. the flying method as described in claim 18 or 19, wherein in the above-mentioned methods, every described propeller is made to produce speed discrepancy.
22. flying method as claimed in claim 20, wherein in the above-mentioned methods, every described propeller is made to produce speed discrepancy.
23. flying method as claimed in claim 22, wherein every described propeller includes at least one blade respectively, and every described blade is respectively provided with a bow oar face and a face of blade, and the curvature in described bow oar face is more than the curvature of described face of blade.
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| CN201410828784.7A CN105775121A (en) | 2014-12-26 | 2014-12-26 | Wing-variable type unmanned aerial vehicle and method thereof |
| CN201811634598.4A CN109808877A (en) | 2014-12-26 | 2014-12-26 | A kind of unmanned plane variable wing and its method |
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| WO2019007433A1 (en) * | 2017-07-06 | 2019-01-10 | Yu Tian | Hybrid vtol fixed-wing drone having wing-tip propellers |
| EP3560830A1 (en) * | 2018-04-26 | 2019-10-30 | Airbus Helicopters | Rotorcraft provided with a rotary wing and at least two propellers, and method applied by said rotorcraft |
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| US10836482B2 (en) | 2018-04-26 | 2020-11-17 | Airbus Helicopters | Rotorcraft having a rotary wing and at least two propellers, and a method applied by the rotorcraft |
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