CN107089320A - A kind of integrated unmanned plane of adaptive wing oar - Google Patents
A kind of integrated unmanned plane of adaptive wing oar Download PDFInfo
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- CN107089320A CN107089320A CN201710281443.6A CN201710281443A CN107089320A CN 107089320 A CN107089320 A CN 107089320A CN 201710281443 A CN201710281443 A CN 201710281443A CN 107089320 A CN107089320 A CN 107089320A
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- unmanned plane
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- connecting plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of civilian unmanned air vehicle technique.A kind of integrated unmanned plane of adaptive wing oar, including fuselage, multiple horns are connected with fuselage, wing is respectively connected with each horn, all-wing aircraft is connected with by attachment structure on fuselage, described attachment structure includes horizontal rotation structure and vertical luffing structure, and horizontal rotation structure drives all-wing aircraft to rotate in the horizontal plane, and vertical luffing structure drives all-wing aircraft in vertical rotation in surface.It is good the invention provides endurance, the rotation of the horizontal direction of all-wing aircraft part and the luffing angle of vertical direction is controlled to change by electric motor, all-wing aircraft angle is adapted to the action requests such as aircraft takeoff, landing and steering, reach the integrated unmanned plane of a kind of adaptive wing oar for improving unmanned plane during flying performance；Solve that unmanned plane cruising time present in prior art is short, the different flight state technical problem big to all-wing aircraft lift effect.
Description
Technical field
The present invention relates to a kind of civilian unmanned air vehicle technique, more particularly to a kind of knot of the adaptive integral unmanned plane of wing slurry
Structure.
Background technology
In various civilian unmanned planes, multi-rotor unmanned aerial vehicle simple in construction, easily controllable receives many consumers with its
Favor, but whole lift of this class unmanned plane both are from the vertical lift provided in rotor, and energy utilization efficiency is high, because
This has cruising time shorter serious problems.Common four axle multi-rotor unmanned aerial vehicle cruising time are only 20 on the market at present
To 30 minutes, it is difficult to the need for meeting long-time, long-distance flight.It is single from increase battery capacity due to the limitation of energy density
It is limited that aspect sets about lifting.
On the other hand, fixed-wing unmanned plane is significantly better than multi-rotor unmanned aerial vehicle on flight time and flying distance, but solid
Wing unmanned plane is determined there is also the defect that some are difficult to avoid that, for example, manipulate difficulty, cruising speed is too high, can not hover, take off
Runway, landing is needed then to need runway, ejector or parachute etc..
All-wing aircraft and multi-rotor unmanned aerial vehicle are combined by the new integrated unmanned plane of wing slurry, except common many rotors nobody
Machine part, one to two all-wing aircrafts are also additionally provided with the fuselage both sides of unmanned plane or body upper.Such unmanned plane uses rotation
Wing landing and hovering, it is to avoid fixed-wing unmanned plane needs runway and the defect that can not be hovered；And in the flat winged stage then by attached
Plus all-wing aircraft increase lift, reach save electricity, improve unmanned plane continuation of the journey purpose.But, the integrated unmanned aerial vehicle design of wing slurry
Exist one it is obvious the problem of, i.e., wing section and fuselage are connected, and are not rotated wing therebetween
With the structure of pitching.All-wing aircraft is fixed with fuselage in flight course, and different flight state is very big to all-wing aircraft lift effect, in landing
Usually there is the extra increased resistance due to state of flight and all-wing aircraft position mismatch, and under flat winged state, due to fuselage
It is inconjunction with all-wing aircraft together to tilt, greatly reduces the lift that all-wing aircraft can be provided.
The content of the invention
It is good the invention provides endurance, the rotation of the horizontal direction of all-wing aircraft part is controlled by electric motor and vertical
The luffing angle change in direction, makes all-wing aircraft angle be adapted to the action requests such as aircraft takeoff, landing and steering, reaches raising
A kind of integrated unmanned plane of adaptive wing oar of unmanned plane during flying performance；When solving the continuation of the journey of unmanned plane present in prior art
Between short, the different flight state technical problem big to all-wing aircraft lift effect.
The above-mentioned technical problem of the present invention is solved by following technical proposals：A kind of adaptive wing oar integration nobody
Multiple horns are connected with machine, including fuselage, fuselage, is respectively connected with each horn on wing, fuselage and passes through attachment structure
All-wing aircraft is connected with, described attachment structure includes horizontal rotation structure and vertical luffing structure, and horizontal rotation structure drives all-wing aircraft
Rotate in the horizontal plane, vertical luffing structure drives all-wing aircraft in vertical rotation in surface.The present invention comprising 4 be used for VTOL and
The wing of hovering and an all-wing aircraft for being used to provide auxiliary lifting during flight, the combination of all-wing aircraft and wing so that unmanned plane is in energy
Increase the cruising time of aircraft while enough VTOL and hovering.A set of bindiny mechanism is installed between all-wing aircraft and fuselage,
All-wing aircraft is rotated freely in horizontally and vertically both direction, so as to reduce the resistance in flight course and increase all-wing aircraft
The lift provided.And adapt to different flight attitudes by changing the angle of all-wing aircraft.Improve the properties of product of unmanned plane.
Preferably, described attachment structure includes upper junction plate and lower connecting plate, lower connecting plate is connected with fuselage, upper company
All-wing aircraft is fixed with fishplate bar.Upper and lower connecting plate connects fuselage and all-wing aircraft respectively, and fuselage and all-wing aircraft are connected, and utilizes simultaneously
The upper junction plate and lower connecting plate being mutually rotatably connected, to complete the horizontal rotation and vertical pitching adjustment of all-wing aircraft.Level is revolved
Rotating motor drives lower connecting plate to rotate, and upper junction plate is connected with lower connecting plate, has also just driven upper junction plate rotation simultaneously, on
Connecting plate is connected with all-wing aircraft, therefore, and all-wing aircraft also can be horizontally rotated and then, so as to realize horizontal rotation adjustment.Vertical pitching motor
Drive upper junction plate to rotate, so as to drive all-wing aircraft to rotate, realize that pitching is adjusted.
Preferably, described horizontal rotation structure includes horizontal rotation motor, horizontal rotation motor is fixed on fuselage,
The output shaft of horizontal rotation motor is connected with lower connecting plate, and lower connecting plate is connected with upper junction plate, and upper junction plate is connected with all-wing aircraft.
Lower connecting plate is driven to rotate by horizontally rotating motor, and lower connecting plate is connected with upper junction plate, is connected with upper junction plate
All-wing aircraft, therefore horizontal rotation motor can drive rotation in all-wing aircraft horizontal plane, so as in unmanned plane steering procedure, pass through swivelling cover
The horizontal direction of plate all-wing aircraft, bigger lift is provided for flat winged steering procedure.
Preferably, described vertical rotational structure includes vertical pitching motor, the output shaft of vertical pitching motor is connected
Have and be fixed with all-wing aircraft on upper junction plate, upper junction plate.Vertical pitching motor drives upper junction plate around axle swing, so as to realize
The all-wing aircraft being fixed on upper junction plate tilts forward and back swing, during unmanned plane takeoff and landing, changes the angle of pitch of all-wing aircraft,
To agree with heading during takeoff and landing, the resistance that reduction all-wing aircraft is caused in the process.
Preferably, lower connecting plate takes the shape of the letter U, the center of the horizontal plane of lower connecting plate is connected with horizontal rotation motor, in U-shaped
Lower connecting plate one of vertical plane on be fixed with vertical pitching motor, the output shaft and upper junction plate of vertical pitching motor
It is connected.The upper end of described vertical plane is arc surface.When being rotated before and after ensureing all-wing aircraft under the driving of vertical pitching motor, can have
Bigger rotation space, will not produce with lower connecting plate and interfere.The lower connecting plate structure of U-shaped can conveniently install vertical pitching
Motor and mutual rotation and the connection between upper junction plate and lower connecting plate can be facilitated.Lower connecting plate can be to upper junction plate shape
Into a support, rotary shaft is installed on one of vertical plane of U-shaped lower connecting plate, allows upper junction plate and lower plate can phase
Mutually rotate.Vertical pitching motor is installed, the output shaft of vertical pitching motor is connected with upper junction plate on another vertical plane.It is perpendicular
Straight pitching motor drives upper junction plate rotation.
Preferably, described upper junction plate takes the shape of the letter U, upper junction plate includes upper joint face and two side joint faces, wherein
Upper joint face is connected with all-wing aircraft, and the vertical plane of one of side joint face and the lower connecting plate of U-shaped mutually rotates phase by rotating shaft
Even, another side joint face is fixed on the output shaft of vertical pitching motor.Described upper joint face is located at lower connecting plate
The top of vertical plane, described side joint face is disc, the U-shaped profile of described upper joint face.The upper junction plate of U-shaped with
The lower connecting plate of U-shaped just docks to form rectangle so that whole attachment structure symmetrical structure is good, so as to improve the steady of flight
Property.Upper joint face is higher than the most significant end of lower connecting plate, facilitates the installation and rotation of all-wing aircraft, and circular side joint face is convenient also to be connected down
Fishplate bar is connected, while being also convenient for being fixed on the all-wing aircraft rotation on upper junction plate.The rectangular tabular of entirety of upper joint face, two
The square position of side uses arc transition so that the upper surface of upper joint face takes the shape of the letter U, and has certain arc chord angle, with lower connecting plate
Interfere small, facilitate the fixation of all-wing aircraft, and be easy to the Sloped rotating of all-wing aircraft.
Preferably, being provided with control unit on lower connecting plate, control unit includes control chip, and control chip passes through
Two pieces of motor control chips are connected respectively to horizontal rotation motor and vertical pitching motor, and control chip is also connected to communication conversion
The UART interface of chip, communication conversion chip includes USB interface.Control unit is installed on the lower connecting plate in the bindiny mechanism
On, including one piece of control panel and an IMU Inertial Measurement Unit.Three-axis gyroscope and three axles are included in IMU Inertial Measurement Units
Accelerograph, the angle of inclination of all-wing aircraft can be provided in real time.Control panel and the receiver inside unmanned aerial vehicle body, IMU sensors
And the motor electrical connection in the fixed wing-body bindiny mechanism.One piece of singlechip chip and two blocks of electricity are included in control panel
Machine control chip.Singlechip chip is used to receive the angle signal that the Inertial Measurement Unit signal is provided, and passes through the list
The program of write-in in piece movement piece, calculates direction and the angle of motor rotation, so that the all-wing aircraft moment keeps pitching and rotation
Angle it is constant；In addition, the singlechip chip is also subjected to the signal transmitted by receiver, so that all-wing aircraft is according to ground
The manipulation of operator is rotated.The motor control chip receives the signal that the singlechip chip is provided, and controls respectively
The system horizontal rotation motor and the vertical pitching motor are rotated.
Preferably, described horn is radially arranged on fuselage outer side, described all-wing aircraft is arranged on the top of fuselage,
The upright projection of all-wing aircraft is located in the space of adjacent horn.Four horns in right-angled intersection arrange, all-wing aircraft not with any one
The direction of horn is identical, but is wired to 45° angle positioned at two wings of right-angled intersection, that is, horn and all-wing aircraft are from depression angle
Degree is seen in " * " shape.The upper surface of all-wing aircraft is cambered surface, can comply with airflow direction, is formed and is oriented to, and improves all-wing aircraft lift.All-wing aircraft is pacified
Loaded on the body upper, due to the pressure difference of the all-wing aircraft top and bottom when air is flowed transversely through, lift can be produced to the all-wing aircraft.
Therefore, the integrated unmanned plane of a kind of adaptive wing oar of the invention possesses following advantages：
（1）Many set rotor systems can provide enough lift, unmanned plane is hovered with VTOL and in the air, drop in addition
The low manipulation difficulty of unmanned plane；
（2）All-wing aircraft can provide auxiliary lifting during unmanned plane during flying, so as to increase the hang time of unmanned plane；
（3）All-wing aircraft-body connection structure can be such that all-wing aircraft rotates in the horizontal and vertical directions, so that the angle of all-wing aircraft meets
The need for current flight state, it is to avoid all-wing aircraft tilts the loss of lift caused, so as to improve lift coefficient and the reduction of all-wing aircraft
Resistance coefficient.
Brief description of the drawings
Fig. 1 is a kind of schematic perspective view of the integrated unmanned plane of adaptive wing oar of the present invention.
Fig. 2 is Fig. 1 top view.
Fig. 3 is Fig. 2 front view.
Fig. 4 is Fig. 2 E-E sectional views.
Fig. 5 is electric operation control circuit figure.
All-wing aircraft surrounding air flows streamline schematic diagram when Fig. 6 is horizontal flight.
Fig. 7 is that unmanned plane makees force analysis figure during horizontal flight.
Fig. 8 is the schematic perspective view of attachment structure.
Embodiment
Below by embodiment, and with reference to accompanying drawing, the technical scheme to invention is described in further detail.
Embodiment：
As shown in Fig. 1 and 2 and 3 and 4, a kind of integrated unmanned plane of adaptive wing oar, including fuselage, for fuselage belonging to supporting and
The impulsive force produced during reduction unmanned plane landing.Fuselage 13 includes upper lid 7 and lower cover 11, and the lower section of fuselage 13 is fixed on undercarriage
On 12, the impulsive force produced during for supporting affiliated fuselage and reduction unmanned plane landing.One is respectively connected with four angles of fuselage
Individual horn 10, is fixed with propeller 8 on horn 10, is driven in the lower section of propeller 8 by propeller motor 9.Four horns
Arranged in cross, all-wing aircraft 1 is connected with by attachment structure in body upper, all-wing aircraft is located between adjacent horn, and all-wing aircraft
Highly it is higher than the height of propeller, the upper surface of all-wing aircraft is form of arcs.In VTOL, hovering and change height or direction
During, flight control panel provides posture and flying quality information, and the rotating speed of the motor 9, band are adjusted by electron speed regulator
Dynamic propeller 8 rotates to provide lift, maintains or change the state of flight of unmanned plane.Because propeller 8 is provided vertically
Lift on direction, therefore the integrated unmanned plane VTOL of wing slurry and hovering can be made, reduce unmanned plane and use process
In place demand and the difficulty that is manipulated to unmanned plane.Row buffering is entered by undercarriage 11 in unmanned plane descent.
The undercarriage 11 is designed as the curvilinear structures of smoothness, can reduce impulsive force during unmanned plane landing, protect unmanned plane structure
It is unaffected.
As shown in figure 8, attachment structure includes the lower connecting plate 6 being connected with fuselage 13, the upper junction plate 2 being connected with all-wing aircraft 1,
Upper junction plate 2 is flexibly connected the center that horizontal rotation motor 4 is fixed on the upper lid 7 of fuselage with lower connecting plate 6, in lower connecting plate 11
The center of horizontal plane offer fixing hole, the output shaft of horizontal rotation motor 4 is fixed in the horizontal plane 14 of lower connecting plate
In the through hole of the heart.Lower connecting plate 6 takes the shape of the letter U, and the center of the horizontal plane 14 of lower connecting plate 6 is connected with the output of horizontal rotation motor 4
Axle, horizontal rotation motor 74 is fixed on the upper lid 7 of fuselage.It is fixed on one of vertical plane 15 of the lower connecting plate 6 of U-shaped
There is vertical pitching motor 5, the output shaft of vertical pitching motor 5 is connected with upper junction plate 6.Another in lower connecting plate 6 is erected
Face directly and through hole is offered on 15, rotary shaft 3 is plugged with through hole, lower connecting plate 6 is rotated with upper junction plate 2 by rotary shaft 3 to be connected
Connect.The upper end of two vertical planes of lower connecting plate 6 is arc surface.Upper junction plate 2 in the top of lower connecting plate 6 equally takes the shape of the letter U,
Upper and lower connecting plate docks to form a rectangle frame, and upper junction plate 2 includes upper joint face 16 and two side joint faces 17.On wherein
Joint face 16 is connected with all-wing aircraft 1, and upper joint face 16 is located at the top of the vertical plane 15 of lower connecting plate, the upper surface of upper joint face 16
For rectangle, the both sides of upper surface are arc-shaped transitional surface 18.Side joint face 17 is circle, one of side joint face 17 and U-shaped
The vertical plane of lower connecting plate is mutually rotatedly connected by rotary shaft 3, and it is defeated that another side joint face is fixed on vertical pitching motor 5
On shaft.
As shown in Figures 6 and 7, when unmanned plane is in state of flight, air-flow flows through the front of the all-wing aircraft 1, the all-wing aircraft 1
Certain lift can be therefrom provided, so as to mitigate the burden of propeller, reduction energy loss, the increase stagnant space-time of unmanned plane is reached
Between purpose.
When unmanned plane landing and Level Change, by controlling vertical pitching motor 5 to be rotated, upper junction plate 2 is driven,
And then change the luffing angle of all-wing aircraft 1.The angle of all-wing aircraft 1 is set to face upward in height uphill process, height makes 1 jiao of all-wing aircraft during declining
Nutation is spent, so that the relative motion of air-flow is more smoothed out, reduces the resistance produced.
When unmanned plane is turned in the air, rotated by controlled level electric rotating machine 4, drive lower connecting plate 6, make to include
Overall structure including upper junction plate 2, vertical pitching motor 5 and all-wing aircraft 1 carries out the rotation in horizontal direction, so that all-wing aircraft 1
Positive direction is consistent with the tangential direction of instantaneous velocity, allows wing to produce the lift of maximum at any time.
When unmanned plane straight line is flat to fly, horizontal rotation motor 4 and vertical pitching motor 5 can pick up described control unit biography
Defeated rotational angle information is handled, and is adjusted to deviateing the normal posture flown of putting down, so that the rotation and pitching of all-wing aircraft 1
The angle moment keeps constant, the influence brought with canceling mechanical oscillation and wind-force, the wing is starched the flight of unmanned plane more steadily, simultaneously
Increase its endurance.
As shown in figure 5, control unit is installed on the lower connecting plate 6 in bindiny mechanism, including one piece of control panel and one
IMU Inertial Measurement Units.Three-axis gyroscope and 3-axis acceleration instrument are included in IMU Inertial Measurement Units, can provide winged in real time
The angle of inclination of the wing.Control panel and the receiver inside unmanned aerial vehicle body, IMU sensors and fixed wing-body bindiny mechanism
On motor electrical connection.One piece of singlechip chip and two pieces of motor control chips are included in control panel.Singlechip chip is used to connect
The angle signal provided by the Inertial Measurement Unit signal, and the program by being write in the singlechip chip, are calculated
Direction and angle that motor is rotated so that the all-wing aircraft moment keep the constant of pitching and the anglec of rotation；In addition, the monolithic movement
Piece is also subjected to the signal transmitted by receiver, so that all-wing aircraft is rotated according to the manipulation of ground controlling personnel.It is described
Motor control chip receives the signal that the singlechip chip is provided, and controls the horizontal rotation motor 4 respectively and described perpendicular
Straight pitching motor 5 is rotated.
Fig. 5 citings, which are illustrated, a kind of can reach the control panel of control function.The control panel is mono- using ATMEGA328-AU
Piece movement piece carries out the reception of Inertial Measurement Unit data and the calculating of angle, and uses two pieces of l6234D points of motor control chips
Other controlled level electric rotating machine 4 and vertical pitching motor 5, miscellaneous part also include one piece of FT232RL chip, for realizing USB
To the conversion of serial UART interface, so that carrying out parameter regulation for control panel access computer provides convenient；Level conversion part and
Voltage regulation part etc..
The integral unmanned plane all-wing aircraft-body connection structure of wing slurry of the present invention applies to the multi-rotor unmanned aerial vehicle with all-wing aircraft
A kind of connection member, can adjust the angle of all-wing aircraft according to different flying conditions, and it is conducive to increasing unmanned plane during flying process
In stability, reduce air drag, improve the endurance of the integral unmanned plane of wing slurry.
The technological thought of above example only to illustrate the invention, it is impossible to which protection scope of the present invention is limited with this.All profits
With the equivalent structure designed by technological thought proposed by the invention, or any change carried out on the basis of the present invention is with changing
Enter, each fall within the scope of the present invention.
Claims (10)
1. a kind of integrated unmanned plane of adaptive wing oar, it is characterised in that：Including fuselage, multiple horns are connected with fuselage,
It is respectively connected with each horn on wing, fuselage and all-wing aircraft is connected with by attachment structure, described attachment structure is revolved including level
Rotation structure and vertical luffing structure, horizontal rotation structure drive all-wing aircraft to rotate in the horizontal plane, and vertical luffing structure drives all-wing aircraft
In vertical rotation in surface.
2. the integrated unmanned plane of a kind of adaptive wing oar according to claim 1, it is characterised in that：Described attachment structure
Including upper junction plate and lower connecting plate, lower connecting plate is connected with fuselage, and all-wing aircraft is fixed with upper junction plate.
3. the integrated unmanned plane of a kind of adaptive wing oar according to claim 1, it is characterised in that：Described horizontal rotation
Structure includes horizontal rotation motor, and horizontal rotation motor is fixed on fuselage, and the output shaft of horizontal rotation motor is connected with lower company
Fishplate bar, lower connecting plate is connected with upper junction plate, and upper junction plate is connected with all-wing aircraft.
4. the integrated unmanned plane of a kind of adaptive wing oar according to claim 1, it is characterised in that：Described vertical rotation
Structure includes vertical pitching motor, and the output shaft of vertical pitching motor, which is connected with upper junction plate, upper junction plate, is fixed with all-wing aircraft.
5. the integrated unmanned plane of a kind of adaptive wing oar according to claim 2 to 4 any one, it is characterised in that：Under
Connecting plate takes the shape of the letter U, and the center of the horizontal plane of lower connecting plate is connected with horizontal rotation motor, wherein the one of the lower connecting plate of U-shaped
Vertical pitching motor is fixed with individual vertical plane, the output shaft of vertical pitching motor is connected with upper junction plate.
6. the integrated unmanned plane of a kind of adaptive wing oar according to claim 5, it is characterised in that：Described vertical plane
Upper end is arc surface.
7. the integrated unmanned plane of a kind of adaptive wing oar according to claim 2 to 4 any one, it is characterised in that：Institute
The upper junction plate stated takes the shape of the letter U, and upper junction plate includes upper joint face and two side joint faces, wherein upper joint face is connected with all-wing aircraft,
The vertical plane of the lower connecting plate of one of side joint face and U-shaped is mutually rotatedly connected by rotating shaft, another side joint face
On the output shaft for being fixed on vertical pitching motor.
8. the integrated unmanned plane of a kind of adaptive wing oar according to claim 7, it is characterised in that：Described upper joint face
Positioned at the top of the vertical plane of lower connecting plate, described side joint face is disc, the U-shaped profile of described upper joint face.
9. the integrated unmanned plane of a kind of adaptive wing oar according to Claims 1-4 any one, it is characterised in that：
Control unit is installed, control unit includes control chip, and control chip passes through two pieces of motor control chips point on lower connecting plate
Horizontal rotation motor and vertical pitching motor are not connected to, and control chip is also connected to the UART interface of communication conversion chip, leads to
Interrogating conversion chip includes USB interface.
10. the integrated unmanned plane of a kind of adaptive wing oar according to Claims 1-4 any one, it is characterised in that：Institute
The horn stated radially is arranged on fuselage outer side, and described all-wing aircraft is arranged on the top of fuselage, and the upright projection of all-wing aircraft is located at
In the space of adjacent horn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710281443.6A CN107089320A (en) | 2017-04-26 | 2017-04-26 | A kind of integrated unmanned plane of adaptive wing oar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710281443.6A CN107089320A (en) | 2017-04-26 | 2017-04-26 | A kind of integrated unmanned plane of adaptive wing oar |
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| CN107089320A true CN107089320A (en) | 2017-08-25 |
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| CN201710281443.6A Pending CN107089320A (en) | 2017-04-26 | 2017-04-26 | A kind of integrated unmanned plane of adaptive wing oar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216607A (en) * | 2018-03-07 | 2018-06-29 | 东莞市锦明运动器材有限公司 | Multi-rotor unmanned aerial vehicle and its control method with hang gliding |
| CN108638774A (en) * | 2018-06-27 | 2018-10-12 | 中国空气动力研究与发展中心计算空气动力研究所 | A kind of layout of air-ground amphibious aircraft |
| JP7044413B1 (en) | 2020-11-10 | 2022-03-30 | 株式会社石川エナジーリサーチ | Flight equipment |
| WO2024004158A1 (en) * | 2022-06-30 | 2024-01-04 | 株式会社Acsl | Unmanned aircraft |
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| CN108216607A (en) * | 2018-03-07 | 2018-06-29 | 东莞市锦明运动器材有限公司 | Multi-rotor unmanned aerial vehicle and its control method with hang gliding |
| CN108216607B (en) * | 2018-03-07 | 2024-03-26 | 东莞市锦明运动器材有限公司 | Multi-rotor unmanned aerial vehicle with gliding wings and control method thereof |
| CN108638774A (en) * | 2018-06-27 | 2018-10-12 | 中国空气动力研究与发展中心计算空气动力研究所 | A kind of layout of air-ground amphibious aircraft |
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| JP2022076852A (en) * | 2020-11-10 | 2022-05-20 | 株式会社石川エナジーリサーチ | Flight device |
| WO2024004158A1 (en) * | 2022-06-30 | 2024-01-04 | 株式会社Acsl | Unmanned aircraft |
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