CN107089324A - A kind of wing oar attachment structure of unmanned plane - Google Patents
A kind of wing oar attachment structure of unmanned plane Download PDFInfo
- Publication number
- CN107089324A CN107089324A CN201710281581.4A CN201710281581A CN107089324A CN 107089324 A CN107089324 A CN 107089324A CN 201710281581 A CN201710281581 A CN 201710281581A CN 107089324 A CN107089324 A CN 107089324A
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- Prior art keywords
- connecting plate
- lower connecting
- motor
- unmanned plane
- wing
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
-
- 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 wing oar attachment structure of unmanned plane, including the lower connecting plate being connected with fuselage, the upper junction plate being connected with all-wing aircraft, upper junction plate is flexibly connected with lower connecting plate, horizontal rotation motor is fixed with fuselage, the output shaft of horizontal rotation motor is connected with lower connecting plate, vertical pitching motor is fixed with lower connecting plate, the output shaft of vertical pitching motor is connected with upper junction plate.A kind of wing oar attachment structure of unmanned plane, including the lower connecting plate being connected with fuselage, the upper junction plate being connected with all-wing aircraft, upper junction plate is flexibly connected with lower connecting plate, horizontal rotation motor is fixed with fuselage, the output shaft of horizontal rotation motor is connected with lower connecting plate, vertical pitching motor is fixed with lower connecting plate, the output shaft of vertical pitching motor is connected with upper junction plate.
Description
Technical field
The present invention relates to a kind of civilian unmanned air vehicle technique, more particularly to a kind of all-wing aircraft-machine for the integral unmanned plane of wing oar
Body attachment 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..
Except common multi-rotor unmanned aerial vehicle part, one is also additionally provided with the fuselage both sides of unmanned plane or body upper
To two all-wing aircrafts.Such unmanned plane uses rotor landing and hovering, it is to avoid fixed-wing unmanned plane needs runway and can not do not hovered
Defect；And lift is then increased by additional all-wing aircraft in the flat winged stage, reach the mesh saved electricity, improve unmanned plane continuation of the journey
's.But, this design exist one it is obvious the problem of, i.e., wing section and fuselage are connected, and machine is not made therebetween
The wing can carry out the structure of rotation and pitching.All-wing aircraft is fixed with fuselage in flight course, and different flight state is to all-wing aircraft lift shadow
Ring very big, usually occur the extra increased resistance due to state of flight and all-wing aircraft position mismatch in landing, and fly flat
Under state, together tilted because fuselage is inconjunction with all-wing aircraft, greatly reduce 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 wing oar attachment structure of unmanned plane of unmanned plane during flying performance；Solve unmanned plane cruising time present in prior art
It is 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 wing oar connection knot of unmanned plane
Structure, including lower connecting plate, the upper junction plate that is connected with all-wing aircraft being connected with fuselage, upper junction plate are flexibly connected with lower connecting plate,
Horizontal rotation motor is fixed with fuselage, the output shaft of horizontal rotation motor is connected with lower connecting plate, solid on lower connecting plate
Surely there is vertical pitching motor, the output shaft of vertical pitching motor is connected with upper junction plate.Driven down by horizontally rotating motor
Connecting plate is rotated, and lower connecting plate is connected with upper junction plate, and all-wing aircraft, therefore horizontal rotation motor energy band are connected with upper junction plate
Rotated in dynamic all-wing aircraft horizontal plane, so as in unmanned plane steering procedure, by the horizontal direction of rotation cover all-wing aircraft, fly to turn to be flat
Bigger lift is provided to process.And vertical pitching motor drives upper junction plate around axle swing, it is fixed on so as to realize
All-wing aircraft on connecting plate tilts forward and back swing, during unmanned plane takeoff and landing, changes the angle of pitch of all-wing aircraft, to have agreed with
Heading when flying and landing, the resistance that reduction all-wing aircraft is caused in the process.
Preferably, described 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 electricity
Machine, is fixed with vertical pitching motor on one of vertical plane of the lower connecting plate of U-shaped, the output shaft of vertical pitching motor with
Upper junction plate is connected.The upper end of described vertical plane is arc surface.Turn before and after ensureing all-wing aircraft under the driving of vertical pitching motor
When dynamic, there can be bigger rotation space, will not produce and interfere with lower connecting plate.The lower connecting plate structure of U-shaped can conveniently pacify
Fill 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 right
Rotary shaft is installed on one support of upper junction plate formation, one of vertical plane of U-shaped lower connecting plate, upper junction plate is allowed with
Connecting plate can be rotated mutually.Vertical pitching motor, the output shaft of vertical pitching motor and upper company are installed on another vertical plane
Fishplate bar is connected.Vertical 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, described fuselage includes upper lid and lower cover, described horizontal rotation motor is fixed on the upper lid of fuselage
Center, fixing hole is offered at the center of the horizontal plane of lower connecting plate, and the output shaft of horizontal rotation motor is fixed on lower connecting plate
In the through hole at the center of horizontal plane.Balance is good, flight stability.
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 connection in the bindiny mechanism
On plate, including one piece of control panel and an IMU Inertial Measurement Unit.Three-axis gyroscope and three are included in IMU Inertial Measurement Units
Axle acceleration instrument, the angle of inclination of all-wing aircraft can be provided in real time.Control panel is sensed with the receiver inside unmanned aerial vehicle body, IMU
Motor electrical connection on device and the fixed wing-body bindiny mechanism.One piece of singlechip chip and two pieces are included in control panel
Motor control chip.Singlechip chip is used to receive the angle signal that the Inertial Measurement Unit signal is provided, and by described
The program of write-in in singlechip chip, calculates direction and the angle of motor rotation, so that the all-wing aircraft moment keeps pitching and rotation
Gyration 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 face operator is rotated.The motor control chip receives the signal that the singlechip chip is provided, and respectively
The control horizontal rotation motor and the vertical pitching motor are rotated.
Therefore, a kind of wing oar attachment structure of unmanned plane of the invention possesses following advantages：
（1）During unmanned plane takeoff and landing, the angle of pitch of all-wing aircraft can be changed by the rotation of pitching motor, with contract
Close heading during takeoff and landing, the resistance that reduction all-wing aircraft is caused in the process；
（2）In unmanned plane steering procedure, the horizontal direction of all-wing aircraft can be changed by the rotation of horizontal motor, so as to fly to be flat
Steering procedure provides bigger lift；
（3）Straight line is flat fly during, the attachment structure can keep the stabilization of all-wing aircraft, reduce wind-force and unmanned plane vibrations pair
The influence that all-wing aircraft is caused.
Brief description of the drawings
Fig. 1 is a kind of schematic perspective view of the wing oar attachment structure of unmanned plane of the present invention.
Fig. 2 is the top view on unmanned plane in Fig. 1.
Fig. 3 is Fig. 2 front view.
Fig. 4 is Fig. 2 E-E sectional views.
Fig. 5 is electric operation control circuit figure.
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 wing oar attachment structure of unmanned plane, including be connected with fuselage 13 lower connecting plate 6,
The upper junction plate 2 being connected with all-wing aircraft 1, upper junction plate 2 is flexibly connected with lower connecting plate 6.Fuselage 13 includes upper lid 7 and lower cover 11,
The lower section of fuselage 13 is fixed on undercarriage 12.A horn 10 is respectively connected with four angles of fuselage, it is fixed on horn 10
There is propeller 8, driven in the lower section of propeller 8 by propeller motor 9.Horizontal rotation motor 4 is fixed on the upper lid 7 of fuselage
Center, fixing hole is offered at the center of the horizontal plane of lower connecting plate 11, and the output shaft of horizontal rotation motor 4 is fixed on lower connection
In the through hole at the center of the horizontal plane 14 of plate.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 level
The output shaft of electric rotating machine 4, horizontal rotation motor 74 is fixed on the upper lid 7 of fuselage.Wherein the one of the lower connecting plate 6 of U-shaped
Vertical pitching motor 5 is fixed with individual vertical plane 15, the output shaft of vertical pitching motor 5 is connected with upper junction plate 6.In lower connection
Offered on another vertical plane 15 of plate 6 and rotary shaft 3 is plugged with through hole, through hole, lower connecting plate 6 leads to upper junction plate 2
Cross rotary shaft 3 and rotate connection.The upper end of two vertical planes of lower connecting plate 6 is arc surface.Upper company in the top of lower connecting plate 6
Fishplate bar 2 equally takes the shape of the letter U, and upper and lower connecting plate docks to form a rectangle frame, and upper junction plate 2 includes upper joint face 16 and two sides
Joint face 17.Wherein upper 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, on
The upper surface of joint face 16 is rectangle, and the both sides of upper surface are arc-shaped transitional surface 18.Side joint face 17 is circle, one of side
The vertical plane of joint face 17 and the lower connecting plate of U-shaped is mutually rotatedly connected by rotary shaft 3, and another side joint face is fixed on
On the vertical output shaft of pitching motor 5.
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.
Control unit is installed on the lower connecting plate 6 in bindiny mechanism, including one piece of control panel and an IMU inertia measurement
Unit.Three-axis gyroscope and 3-axis acceleration instrument are included in IMU Inertial Measurement Units, the inclination angle of all-wing aircraft can be provided in real time
Degree.Control panel and the motor electricity in the receiver inside unmanned aerial vehicle body, IMU sensors and fixed wing-body bindiny mechanism
Connection.One piece of singlechip chip and two pieces of motor control chips are included in control panel.Singlechip chip is used to receive the inertia
The angle signal that measuring unit signal is provided, and the program by being write in the singlechip chip, calculate motor rotation
Direction and angle so that the all-wing aircraft moment keep the constant of pitching and the anglec of rotation；In addition, the singlechip chip is also subjected to
The signal transmitted by receiver, so that all-wing aircraft is rotated according to the manipulation of ground controlling personnel.The motor control core
Piece receives the signal that the singlechip chip is provided, and controls the horizontal rotation motor 4 and the vertical pitching motor 5 respectively
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 (7)
1. a kind of wing oar attachment structure of unmanned plane, it is characterised in that：Including be connected with fuselage lower connecting plate, be connected with all-wing aircraft
Upper junction plate, upper junction plate is flexibly connected with lower connecting plate, and horizontal rotation motor is fixed with fuselage, horizontally rotates motor
Output shaft be connected with lower connecting plate, be fixed with vertical pitching motor on lower connecting plate, the output shaft of vertical pitching motor with
Upper junction plate is connected.
2. a kind of wing oar attachment structure of unmanned plane according to claim 1, it is characterised in that：Described lower connecting plate is in
U-shaped, the center of the horizontal plane of lower connecting plate is connected with horizontal rotation motor, in one of vertical plane of the lower connecting plate of U-shaped
On be fixed with vertical pitching motor, the output shaft of vertical pitching motor is connected with upper junction plate.
3. a kind of wing oar attachment structure of unmanned plane according to claim 2, it is characterised in that：Described vertical plane it is upper
Hold as arc surface.
4. a kind of wing oar attachment structure of unmanned plane according to claim 1, it is characterised in that：Described upper junction plate is in
U-shaped, upper junction plate includes upper joint face and two side joint faces, wherein upper joint face is connected with all-wing aircraft, one of side connection
The vertical plane of the lower connecting plate of face and U-shaped is mutually rotatedly connected by rotating shaft, and another side joint face is fixed on vertical pitching
On the output shaft of motor.
5. a kind of wing oar attachment structure of unmanned plane according to claim 4, it is characterised in that：Described upper joint face position
In 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.
6. a kind of wing oar attachment structure of unmanned plane according to claim 1 to 5 any one, it is characterised in that：It is described
Fuselage include upper lid and lower cover, described horizontal rotation motor is fixed on the Shang Gai centers of fuselage, in the level of lower connecting plate
The center in face offers fixing hole, and the output shaft of horizontal rotation motor is fixed in the through hole at the center of lower connecting plate horizontal plane.
7. a kind of wing oar attachment structure of unmanned plane according to claim 1 to 5 any one, it is characterised in that：Under
Control unit is installed, control unit includes control chip, and control chip is distinguished by two pieces of motor control chips on connecting plate
Horizontal rotation motor and vertical pitching motor are connected to, control chip is also connected to the UART interface of communication conversion chip, communication
Conversion chip includes USB interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710281581.4A CN107089324A (en) | 2017-04-26 | 2017-04-26 | A kind of wing oar attachment structure of unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710281581.4A CN107089324A (en) | 2017-04-26 | 2017-04-26 | A kind of wing oar attachment structure of unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107089324A true CN107089324A (en) | 2017-08-25 |
Family
ID=59637996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710281581.4A Pending CN107089324A (en) | 2017-04-26 | 2017-04-26 | A kind of wing oar attachment structure of unmanned plane |
Country Status (1)
| Country | Link |
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| CN (1) | CN107089324A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501969A (en) * | 2011-12-13 | 2012-06-20 | 北京君研院科技有限公司 | One-man flight vehicle capable of jetting at points of rotor blades |
| CN102996984A (en) * | 2011-09-09 | 2013-03-27 | 深圳市大疆创新科技有限公司 | Gyro-type dynamic self-balancing pan-tilt |
| CN105173060A (en) * | 2015-11-02 | 2015-12-23 | 佛山市神风航空科技有限公司 | Two-propeller plane capable of taking off and landing vertically |
| CN205131630U (en) * | 2015-11-02 | 2016-04-06 | 佛山市神风航空科技有限公司 | Double -oar vertical lift aircraft |
| CN206926819U (en) * | 2017-04-26 | 2018-01-26 | 浙江点辰航空科技有限公司 | A kind of attachment structure of the unmanned plane of winged oar |
-
2017
- 2017-04-26 CN CN201710281581.4A patent/CN107089324A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102996984A (en) * | 2011-09-09 | 2013-03-27 | 深圳市大疆创新科技有限公司 | Gyro-type dynamic self-balancing pan-tilt |
| CN102501969A (en) * | 2011-12-13 | 2012-06-20 | 北京君研院科技有限公司 | One-man flight vehicle capable of jetting at points of rotor blades |
| CN105173060A (en) * | 2015-11-02 | 2015-12-23 | 佛山市神风航空科技有限公司 | Two-propeller plane capable of taking off and landing vertically |
| CN205131630U (en) * | 2015-11-02 | 2016-04-06 | 佛山市神风航空科技有限公司 | Double -oar vertical lift aircraft |
| CN206926819U (en) * | 2017-04-26 | 2018-01-26 | 浙江点辰航空科技有限公司 | A kind of attachment structure of the unmanned plane of winged oar |
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