CN106428548A

CN106428548A - Vertical take-off and landing unmanned aerial vehicle

Info

Publication number: CN106428548A
Application number: CN201610888282.2A
Authority: CN
Inventors: 曹萍
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-10-12
Filing date: 2016-10-12
Publication date: 2017-02-22
Anticipated expiration: 2036-10-12
Also published as: CN106428548B

Abstract

The invention belongs to the technical field of aviation, and relates to a vertical take-off and landing unmanned aerial vehicle. The vertical take-off and landing unmanned aerial vehicle is characterized in that the vertical take-off and landing unmanned aerial vehicle comprises an airframe, wings, an engine, an engine propeller, ailerons, horizontal tails, vertical fins, four lifting supports connected to the vertical fins or the wings or the horizontal tails, a plurality of connecting arms connected to the airframe or the wings or the horizontal tails or the vertical fins, a plurality of motors connected to the connecting arms and a plurality of rotor wings connected to the motors. The vertical take-off and landing unmanned aerial vehicle can vertically take off and land like a rotor craft, can fly at a high speed like a fixed wing craft, further can maintain the advantages of long cruise time, long cruise distance, excellent aerodynamic performance, good wind resistance and the like of the fixed wing craft, and can fly with a large carried load and high take-off weight.

Description

A kind of vertical take-off and landing unmanned aerial vehicle

Technical field

The present invention relates to a kind of vertical take-off and landing unmanned aerial vehicle, belongs to Aeronautics field.

Background technology

Unmanned vehicle can be generally divided into fixed-wing unmanned vehicle and rotor unmanned aircraft by function.Fixed-wing is no People's aircraft has the advantages that cruise time length, cruising range are remote, aeroperformance is excellent, wind resistance good, but fixed-wing unmanned plane Also there is inborn limitation：Longer takeoff and landing runway is needed, is just also required to by the way of catapult-assisted take-off, parachuting at last One section of larger working place, disadvantages mentioned above significantly limit the range of fixed-wing unmanned vehicle.Nobody is winged for rotor Row device produces power and the torque of balancing gravity and flight operation by rotor, and the advantage of rotor unmanned aircraft maximum is permissible Vertical and landing takeoff, hovering or fly to any direction, therefore rotor unmanned aircraft need not provide special rising Drop runway, with more applications, but the shortcoming of rotor unmanned aircraft is also apparent from：Flight time is short, course continuation mileage is near, wind resistance Property is bad.

From being born from aircraft, people have been working hard attempt making while flying with Fixed Wing AirVehicle and rotor The osprey tiltrotor of the aircraft of row device advantage, the such as U.S., the vertical configuration of two propellers by changing lateral arrangement State is realized taking off vertically with before level to horizontality and is flown, but gradually rotates the propeller of vertical rotary to water at the volley Level state, significantly increased control difficulty and aviation accident risk, after perfect, the rotation until osprey today is verted of nearly 30 years Wing machine also has an accident frequently.Except tiltrotor, the XFV-1 aircraft in the U.S. supports head to take off vertically upward by tailstock, so Afterwards aircraft is gradually gone to by plumbness by level flight condition by the synergy of conventional rudder face, will during due to taking off vertically Ask motor power huge and make " deadweight " of electromotor excessive, airplane efficiency is very low, and the Fixed Wing AirVehicle of routine The operational torque that rudder face is produced is limited, and the control performance of aircraft is very poor, and wind loading rating wretched insufficiency, and accident rate is too high.With The rise of many rotor unmanned aircrafts in recent years, conventional fixed-wing unmanned vehicle and four rotors are combined by company in length and breadth in Chengdu Become compound unmanned vehicle, carry out VTOL using electronic four rotor, carry out putting down and fly using the electromotor and rudder face of fixed-wing, by Carry out balancing gravity by four rotors completely when vertical and landing takeoff and operational torque is provided, therefore four rotors and the battery for needing Whole machine a big chunk weight is accounted for, completely useless in flat flying, therefore, " deadweight " of aircraft is excessive, the weight of whole aircraft Can only be in tens kilograms of magnitude, it is impossible to do big, and during low speed fixed-wing state engine the bad balance of anti-twisted torque, separately Outward, the four rotors disturbance that part produces windward for not resupplying electric current after the flat winged state of aircraft entrance increased fixed-wing state Control difficulty.

Content of the invention

For overcoming above-mentioned technical deficiency, it is an object of the invention to provide a kind of have VTOL ability, long voyage, be easy to The vertical take-off and landing unmanned aerial vehicle of control.

A kind of vertical take-off and landing unmanned aerial vehicle of the present invention, including body, wing, electromotor, engine prop, pair The wing, horizontal tail, vertical fin, four landing supports being connected on vertical fin (or wing or horizontal tail), it is connected to fuselage (or wing or horizontal tail Or vertical fin) on multiple linking arms, connection multiple motors on the connecting arm, the multiple rotors being connected on multiple motors.

When described four landing supports being connected on vertical fin (or wing or horizontal tail) are used for aircraft takeoff and land Support aircraft.Aircraft is when taking off, and aircraft produces liter vertically upward in electromotor connection engine prop rotation Power and motor drive rotor wing rotation to produce and take off vertically under the synergy of lift vertically upward, connection on the connecting arm many Individual motor drives rotor to provide the operating physical force on lift and aircraft pitching, rolling and driftage three degree of freedom vertically upward Square；Entered by the state that takes off vertically in flat winged state procedure in aircraft, wing produces lift, on aileron, horizontal tail and vertical fin The torque that aerodynamic force is produced is combined the torque of the aerodynamic force generation that multiple Motor drive rotors are produced and jointly controls aircraft Aircraft is gradually controlled entrance level flight condition by plumbness by pitching, rolling and driftage three degree of freedom attitude；With Being gradually increased of the horizontal flight speed of aircraft, the rotating speed of Motor drive rotor is progressively smaller until stopping, and hereafter aircraft enters Enter fixed-wing state of flight, driven by engine engine prop provides thrust, wing, aileron, horizontal tail and vertical fin joint are provided The power and torque of operation aircraft；When aircraft lands, torque and pair that the aerodynamic force of Motor drive rotor wing rotation is produced The torque that aerodynamic force on the wing, horizontal tail and vertical fin is produced jointly controls on pitching, rolling and the driftage three degree of freedom of aircraft Attitude, by aircraft from level flight condition to vertical landing state change, now electromotor connection engine prop rotation Change the line of production raw lift and motor drives the lift joint of rotor wing rotation generation to provide the lift for overcoming aircraft gravity；Work as aircraft Vertical landing state is entered, electromotor connection engine prop rotation produces lift vertically upward and motor drives rotor rotation Change the line of production vertical landing under the synergy of raw lift vertically upward, the multiple motors for connecting on the connecting arm drive rotor offer The operational torque on lift and aircraft pitching, rolling and driftage three degree of freedom vertically upward.

Described aircraft engine can be one and drive an engine prop, or an electromotor (or two electromotors) drive the contrary engine prop composition coaxial system in two direction of rotation, or two start Machine drives two contrary engine prop in direction of rotation to be distributed horizontally to body both sides.

The described multiple linking arms being connected on fuselage (or wing or horizontal tail or vertical fin) can be 3,4,6 or 8.

Described electromotor is provided power by oil, and described motor is by battery or power electric generators.

Described connection multiple motors on the connecting arm can constitute four with the multiple rotors being connected on multiple motors Rotor, six rotors or eight rotors, each rotor and another adjacent rotor wing rotation are in opposite direction, and the rotary shaft of each rotor is inclined Oblique one angle more than or equal to 0 degree less than 90 degree is to provide the operation of the balanced engine propeller anti-twisted torque that rotation is produced Torque；Described rotor is folded back after aircraft enters flat winged state automatically, reduces flight resistance.

Described connection multiple motors on the connecting arm can constitute three with the multiple rotors being connected on multiple motors Coaxial six rotor of arm, coaxial eight rotor of four arms, coaxial 12 rotor of six arms or coaxial 16 rotor of eight arms, two on each arm Electric machine rotational axis are coaxial, and the motor-driven rotor wing rotation of two on each linking arm is in opposite direction, each rotor and adjacent Another rotor wing rotation is in opposite direction, and the rotary shaft of each rotor inclines an angle more than or equal to 0 degree less than 90 degree to carry The operational torque of the anti-twisted torque for producing is rotated for balanced engine propeller；Described rotor enters flat winged state in aircraft Automatically fold back afterwards, reduce flight resistance.

A kind of vertical take-off and landing unmanned aerial vehicle that the present invention is provided can VTOL as rotor craft, and can picture The same high-speed flight of Fixed Wing AirVehicle, can also keep that Fixed Wing AirVehicle cruise time length, cruising range be remote, aeroperformance The advantages of excellent, wind resistance is good, additionally it is possible to heavy－duty and the flight of big take-off weight.

Description of the drawings

Fig. 1 is the structural representation of the embodiment of the present invention 1；

Fig. 2 folds schematic diagram for rotor；

Fig. 3 is the structural representation of the embodiment of the present invention 2；

Fig. 4 is the structural representation of the embodiment of the present invention 3；

Fig. 5 is the structural representation of the embodiment of the present invention 4；

Fig. 6 is the structural representation of the embodiment of the present invention 5.

Specific embodiment

Below in conjunction with the embodiment that accompanying drawing is given, the present invention is described in further detail.

Embodiment 1

As depicted in figs. 1 and 2, a kind of vertical take-off and landing unmanned aerial vehicle of the present embodiment, including body 1, wing 2, starts Machine 3, engine prop 4, aileron 5, horizontal tail 6, vertical fin 7, four landing supports 8 being connected on vertical fin 7 and horizontal tail 6, connection 4 linking arms 9,4 motors 10 being connected on linking arm 9 on wing 2,4 rotors being connected on 4 motors 10 11.

Be connected on vertical fin 7 and horizontal tail 6 four described landing supports 8 are supported for aircraft takeoff and when landing and are flown Row device.Aircraft is when taking off, and the connection rotation of engine prop 4 of electromotor 3 produces lift vertically upward and motor 10 is carried Dynamic rotor 11 rotates and takes off vertically under the synergy for producing lift vertically upward, the multiple motors being connected on linking arm 9 10 drive rotors 11 provide the operational torque on lift vertically upward and aircraft pitching, rolling and driftage three degree of freedom； Entered by the state that takes off vertically in flat winged state procedure in aircraft, wing 2 produces lift, on aileron 5, horizontal tail 6 and vertical fin 7 The torque that aerodynamic force is produced is combined multiple motors 10 and drives the torque that the aerodynamic force of the generation of rotor 11 is produced to jointly control aircraft Pitching, aircraft gradually controls by plumbness and enters level flight condition by rolling and driftage three degree of freedom attitude；With Being gradually increased for the horizontal flight speed of aircraft, motor 10 drives the rotating speed of rotor 11 that stopping is progressively smaller until, hereafter flies Row device enter fixed-wing state of flight, electromotor 3 drive engine prop 4 provide thrust, wing 2, aileron 5, horizontal tail 6 and hang down Tail 7 combines the power and torque for providing operation aircraft；When aircraft lands, motor 10 drives the aerodynamic force of the rotation of rotor 11 to produce The torque that aerodynamic force in raw torque and aileron 5, horizontal tail 6 and vertical fin 7 is produced jointly controls the pitching of aircraft, rolling and partially Attitude on boat three degree of freedom, aircraft is changed from level flight condition to vertical landing state, and now electromotor 3 connects Engine prop 4 rotates the joint of the lift that the lift for producing and the drive rotor 11 of motor 10 rotate generation and provides and overcomes flight Think highly of power；When aircraft enters vertical landing state, electromotor 3 connects engine prop 4 and rotates the liter for producing vertically upward Power and motor 10 drive rotor 11 to rotate vertical landing under the synergy for producing lift vertically upward, are connected to linking arm 9 On multiple motors 10 drive rotor 11 to provide on lift vertically upward and aircraft pitching, rolling and driftage three degree of freedom Operational torque.

Described aircraft engine 3 is one and drives an engine prop 4.

The described linking arm 9 being connected on wing 2 is four.

Described electromotor 3 is provided power by oil, and described motor 10 is by battery or power electric generators.

Described be connected on linking arm 94 motors 10 and 4 rotors 11 being connected on 4 motors constitute four rotations The wing, each rotor 11 and another adjacent 11 direction of rotation of rotor are conversely, the rotary shaft of each rotor 11 inclines one and is more than Angle a equal to 0 degree less than 90 degree is to provide the operational torque that balanced engine propeller 4 rotates the anti-twisted torque for producing, every It is identical that the rotary shaft of individual rotor 11 inclines the operational torque direction for producing with the rotary shaft of diagonal rotor 11；Described rotor 11 Automatically fold back after aircraft enters flat winged state, reduce flight resistance.

Embodiment 2

As shown in figure 3, a kind of vertical take-off and landing unmanned aerial vehicle of the present embodiment, its operation principle is same as Example 1, area It is not that described aircraft engine 3 is that an electromotor 3 drives two contrary engine prop 4 in direction of rotation to constitute Coaxial system.

Embodiment 3

As shown in figure 4, a kind of vertical take-off and landing unmanned aerial vehicle of the present embodiment, its operation principle is same as Example 1, area It is not that described aircraft engine 3 is that two electromotors 3 drive contrary 4 level of engine prop in two direction of rotation It is distributed in 1 both sides of body.

Embodiment 4

As shown in figure 5, a kind of vertical take-off and landing unmanned aerial vehicle of the present embodiment, its operation principle is same as Example 1, area 8 motors being connected on 4 linking arms 9 not being described in described aircraft and 8 rotations being connected on 8 motors 10 The wing 11 constitutes coaxial eight rotor of four arms, two 10 rotating shaft coaxles of motor on each linking arm 9, two on each linking arm 9 11 direction of rotation of rotor that individual motor 10 drives conversely, each rotor 11 and another adjacent 11 direction of rotation of rotor conversely, The rotary shaft of each rotor 11 inclines angle a more than or equal to 0 degree less than 90 degree and is revolved with providing balanced engine propeller 4 The operational torque of raw anti-twisted torque of changing the line of production, the rotary shaft of the rotary shaft of each rotor 11 and diagonal rotor 11 is inclined and is produced Operational torque direction identical；Described rotor 11 is folded back after aircraft enters flat winged state automatically, reduces flight resistance Power.

Embodiment 5

As shown in fig. 6, a kind of vertical take-off and landing unmanned aerial vehicle of the present embodiment, its operation principle is same as Example 1, area It is not that described linking arm 9 is four, two of which linking arm 9 is connected on wing 2, and another two linking arm 9 is connected to vertical On tail 7.In four described landing supports 8, two are connected on wing 2, and another two landing support 8 is connected on vertical fin 7.

For a person skilled in the art, other various phases are made in technical scheme that can be as described above and design The change that answers and deformation, and all these change and deformation should all belong to right scope of protection of the present invention it Interior.

Claims

1. a kind of vertical take-off and landing unmanned aerial vehicle, it is characterised in that：Including body, wing, electromotor, engine prop, pair The wing, horizontal tail, vertical fin, four landing supports being connected on vertical fin (or wing or horizontal tail), it is connected to fuselage (or wing or horizontal tail Or vertical fin) on multiple linking arms, connection multiple motors on the connecting arm, the multiple rotors being connected on multiple motors；Fly Row device electromotor can be one and drive an engine prop, or an electromotor (or two electromotors) to drive Two contrary engine prop in direction of rotation constitute coaxial system, or two driven by engines, two direction of rotation Contrary engine prop is distributed horizontally to body both sides；The multiple companies being connected on fuselage (or wing or horizontal tail or vertical fin) It can be 3,4,6 or 8 to connect arm；Four landing supports being connected on vertical fin (or wing or horizontal tail) are used for aircraft Aircraft is supported during take-off and landing；Electromotor is provided power by oil, and motor is by battery or power electric generators；Aircraft When taking off, aircraft produces lift vertically upward in electromotor connection engine prop rotation and motor drives rotor rotation Change the line of production raw lift vertically upward synergy under take off vertically, the multiple motors for connecting on the connecting arm drive rotor offer The operational torque on lift and aircraft pitching, rolling and driftage three degree of freedom vertically upward；In aircraft by vertically Winged state is entered in flat winged state procedure, and wing produces lift, the torque joint that the aerodynamic force on aileron, horizontal tail and vertical fin is produced The torque that the aerodynamic force that multiple Motor drive rotors are produced is produced jointly controls pitching, rolling and the driftage three of aircraft certainly By degree attitude, aircraft is gradually controlled by plumbness and enter level flight condition；With the horizontal flight speed of aircraft by Cumulative plus, the rotating speed of Motor drive rotor is progressively smaller until stoppings, hereafter aircraft entrance fixed-wing state of flight, electromotor Engine prop is driven to provide thrust, wing, aileron, horizontal tail and vertical fin joint provide power and the torque of operation aircraft；When During aircraft landing, the aerodynamic force in the torque and aileron, horizontal tail and vertical fin of the aerodynamic force generation of Motor drive rotor wing rotation is produced Raw torque jointly controls the attitude on pitching, rolling and the driftage three degree of freedom of aircraft, by aircraft by horizontal flight State changes to vertical landing state, and the lift that now electromotor connection engine prop rotation is produced and motor drive rotor The joint of the lift that rotation is produced is provided and overcomes aircraft gravity；When aircraft enters vertical landing state, electromotor connection is sent out The rotation of motivation propeller produces lift vertically upward and motor drives the joint that rotor wing rotation produces lift vertically upward to make Use lower vertical landing, the multiple motors for connecting on the connecting arm drive rotor provide lift vertically upward and aircraft pitching, Operational torque in rolling and driftage three degree of freedom.

2. a kind of vertical take-off and landing unmanned aerial vehicle as claimed in claim 1, it is characterised in that：Connection on the connecting arm multiple Motor and the multiple rotors being connected on multiple motors can constitute four rotors, six rotors or eight rotors, each rotor and adjacent Another rotor wing rotation in opposite direction, the rotary shaft of each rotor incline an angle for being less than 90 degree more than or equal to 0 degree with The operational torque of the balanced engine propeller anti-twisted torque that rotation is produced is provided.

3. a kind of vertical take-off and landing unmanned aerial vehicle as claimed in claim 1, it is characterised in that：Connection on the connecting arm multiple Motor and the multiple rotors being connected on multiple motors can constitute coaxial six rotor of three arms, coaxial eight rotor of four arms, six arms altogether 12 rotor of axle or coaxial 16 rotor of eight arms, two on each arm electric machine rotational axis are coaxial, two on each linking arm Motor-driven rotor wing rotation is in opposite direction, and each rotor and another adjacent rotor wing rotation are in opposite direction, each rotor Rotary shaft inclines an angle more than or equal to 0 degree less than 90 degree to provide the balanced engine propeller anti-twisted power that rotation is produced The operational torque of square.

4. a kind of vertical take-off and landing unmanned aerial vehicle as claimed in claim 1, it is characterised in that：Rotor enters flat flying in aircraft Automatically fold back after state, reduce flight resistance.