CN107380427B - Wing dual-purpose type tilting wing unmanned aerial vehicle - Google Patents
Wing dual-purpose type tilting wing unmanned aerial vehicle Download PDFInfo
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- CN107380427B CN107380427B CN201710783974.5A CN201710783974A CN107380427B CN 107380427 B CN107380427 B CN 107380427B CN 201710783974 A CN201710783974 A CN 201710783974A CN 107380427 B CN107380427 B CN 107380427B
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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
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention discloses a wing dual-purpose tilting wing unmanned aerial vehicle, which comprises a body vertically penetrated by a rotating shaft from the side, wherein two ends of the rotating shaft are symmetrically distributed relative to the body, and a power mechanism for driving the rotating shaft to rotate is arranged in the body; the two ends of the rotating shaft are both provided with a rotating seat, the rotating seat is connected with a propeller, and the rotating seat is hinged with a wing with the width direction perpendicular to the rotating plane of the propeller; the wing is provided with a turnover mechanism which enables the wing to rotate around the rotating seat, and the rotating plane of the wing is parallel to the rotating plane of the propeller; when the unmanned aerial vehicle is in a high-speed plane flight state, the wings rotate to a direction perpendicular to the fuselage, and one end of each wing is lapped or clamped on the fuselage; when the unmanned aerial vehicle is in a vertical lifting state, the wing rotates to be parallel to the direction of the fuselage. The invention has the advantages of not only being difficult to turn over and damage during landing, but also having the advantages of large lifting force and good aircraft stability during vertical lifting.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a wing dual-purpose tilting wing unmanned aerial vehicle.
Background
The tilting wing unmanned aerial vehicle belongs to a combination of a propeller type unmanned aerial vehicle and a fixed wing unmanned aerial vehicle, and has a propeller type vertical lifting function and a fixed wing type high-navigational speed and large-navigational range function. The existing tilting wing unmanned aerial vehicle is provided with two landing gears below the fuselage, and the span between the landing gears is limited due to the inherent structural limitation of the unmanned aerial vehicle, namely the landing point range is small; the unmanned aerial vehicle is difficult to land stably when falling under the prior art, and the unmanned aerial vehicle is always landed vertically at a higher speed when falling, so that a reverse impact force is generated when landing; under certain conditions, the three components of reverse impact force, small falling point range and uneven ground act together to cause the unmanned aerial vehicle to overturn and damage during landing.
Therefore, the existing tilting wing unmanned aerial vehicle has the defect of easy overturning and damage during landing.
Disclosure of Invention
The invention aims to provide a wing dual-purpose tilting wing unmanned aerial vehicle. The invention has the advantage of difficult turnover and damage during landing.
The technical scheme of the invention is as follows: the wing dual-purpose tilting wing unmanned aerial vehicle comprises a body which is vertically penetrated by a rotating shaft from the side, wherein two ends of the rotating shaft are symmetrically distributed relative to the body, and a power mechanism for driving the rotating shaft to rotate is arranged in the body; the two ends of the rotating shaft are both provided with a rotating seat, the rotating seat is connected with a propeller, and the rotating seat is hinged with a wing with the width direction perpendicular to the rotating plane of the propeller; the wing is provided with a turnover mechanism which enables the wing to rotate around the rotating seat, and the rotating plane of the wing is parallel to the rotating plane of the propeller; when the unmanned aerial vehicle is in a high-speed plane flight state, the wings rotate to a direction perpendicular to the fuselage, and one end of each wing is lapped or clamped on the fuselage; when the unmanned aerial vehicle is in a vertical lifting state, the wing rotates to be parallel to the direction of the fuselage.
In the wing dual-purpose tilting wing unmanned aerial vehicle, the tail end of the body is provided with a downward vertical tail wing, the tilting mechanism comprises a connecting rod for connecting the vertical tail wing with the wing, one end of the connecting rod is connected with the vertical tail wing through a first universal joint, and the other end of the connecting rod is connected with the end part of the wing through a second universal joint; the turnover mechanism further comprises a rotating plate hinged with the adapter, and the adapter is connected with the wing through the rotating plate.
In the dual-purpose tilting wing unmanned aerial vehicle with wings, the connection point of the second universal joint and the wings is positioned at one end of the wings, which is used for being in lap joint or clamping with the fuselage.
In the wing dual-purpose tilting wing unmanned aerial vehicle, the first universal joint and the second universal joint are universal joint couplings.
In the wing dual-purpose tilting wing unmanned aerial vehicle, the first universal joint and the second universal joint are hoses.
In the wing dual-purpose tilting wing unmanned aerial vehicle, the turnover mechanism comprises a motor fixedly connected with the adapter seat and a rotating plate hinged with the adapter seat, and the adapter seat is connected with the wing through the rotating plate; a motor shaft of the motor is provided with a first connecting rod, one end of the first connecting rod is hinged with one end of a second connecting rod, and the other end of the second connecting rod is hinged with a rotating plate; the motor drives the wing to rotate around the axis of the rotating shaft through the first connecting rod, the second connecting rod and the rotating plate in sequence.
In the wing dual-purpose tilting wing unmanned aerial vehicle, the rotating plate is provided with a plurality of hinge points, and the second connecting rod enables the wing to obtain different tilting speeds through connection with different hinge points.
Compared with the prior art, the wing can rotate, and can play a role of the landing gear when the unmanned aerial vehicle is landed, the landing point coverage area of the landing gear is very large, and the unmanned aerial vehicle is not easy to overturn and damage during landing. In addition, no matter what condition the unmanned aerial vehicle is, the air flow generated by the propeller of the unmanned aerial vehicle is always parallel to the wing, and the air flow smoothly flows through the upper surface and the lower surface of the wing after acting on the edge of the wing, so that the stability of the unmanned aerial vehicle is maintained and the lift loss is reduced; this is different with current tilting wing unmanned aerial vehicle, and current tilting wing unmanned aerial vehicle's wing is fixed wing formula, and when slow flight or vertical lift, the large tracts of land of screw air current acts on the wing, and the wing large tracts of land has blocked the air current, not only makes unmanned aerial vehicle's lift reduce, and the air current is beaten in the too big area of wing and can be produced irregular vortex and cause unmanned aerial vehicle unstable moreover.
Therefore, the invention has the advantages of not only being difficult to turn over and damage during landing, but also having the advantages of large lifting force and good aircraft stability during vertical lifting.
Drawings
Fig. 1 is a schematic structural view of embodiment 1 of the present invention.
Fig. 2 is a bottom view of the unmanned aerial vehicle in embodiment 2 in a high-speed flat flight state.
Fig. 3 is a state diagram of the vertical lift state of the unmanned aerial vehicle in embodiment 2 of the present invention.
Fig. 4 is a schematic structural diagram of a turnover mechanism in a high-speed flat flight state of the unmanned aerial vehicle in embodiment 2 of the present invention.
Fig. 5 is a schematic structural diagram of a turnover mechanism in a vertical lifting state of the unmanned aerial vehicle in embodiment 2 of the present invention.
The marks in the drawings are: the device comprises a 1-rotating shaft, a 2-fuselage, a 3-power mechanism, a 4-adapter, a 5-propeller, a 6-wing, an 8-motor, a 9-rotating plate, a 10-first connecting rod, a 11-second connecting rod, a 12-hinge point, a 13-vertical tail wing, a 14-connecting rod, a 15-first universal joint, a 16-second universal joint and a 17-step.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not intended to be limiting.
Example 1. As shown in fig. 1, the device comprises a machine body 2 vertically penetrated by a rotating shaft 1 from the side, wherein two ends of the rotating shaft 1 are symmetrically distributed relative to the machine body 2, a power mechanism 3 for driving the rotating shaft 1 to rotate is arranged in the machine body 2, the power mechanism 3 is a motor, two ends of a motor shaft of the motor extend outwards, and the motor shaft of the motor is the rotating shaft 1; two ends of the rotating shaft 1 are provided with adapter seats 4, the adapter seats 4 are connected with propellers 5, and the adapter seats 4 are hinged with wings 6 with the width direction perpendicular to the rotating plane of the propellers 5; the wing 6 is provided with a turnover mechanism for enabling the wing 6 to rotate around the rotating seat 4, and the rotating plane of the wing 6 is parallel to the rotating plane of the propeller 6; when the unmanned aerial vehicle is in a high-speed flat flight state, the wings 6 rotate to a direction perpendicular to the fuselage, and one end of each wing 6 is lapped or clamped on the fuselage 2; when the unmanned aerial vehicle is in a vertically lifted state, the wing 6 rotates to a direction parallel to the fuselage 2.
The tail end of the fuselage 2 is provided with a downward vertical tail 13, the turnover mechanism comprises a connecting rod 14 for connecting the vertical tail 13 with the wing 6, one end of the connecting rod 14 is connected with the vertical tail 13 through a first universal joint 15, and the other end of the connecting rod 14 is connected with the end part of the wing 6 through a second universal joint 16; the turnover mechanism further comprises a rotating plate 9 hinged with the adapter seat 4, and the adapter seat 4 is connected with the wing 6 through the rotating plate 9.
The connection point between the second universal joint 16 and the wing 6 is located at one end of the wing 6 for overlapping or clamping the fuselage 2.
The first universal joint 15 and the second universal joint 16 are universal joint couplings (hoses may also be used).
In embodiment 1, the rotation of the revolving seat 4 of the wing 6 is controlled and driven by the power mechanism 3, the rotation of the rotating shaft 1 drives the propeller 5 and the wing 6 to rotate around the rotating shaft 1, and the wing 6 is simultaneously driven by the connecting rod 14 to rotate around the revolving seat 4, and the two are in linkage relation, so that the attitude change of the wing 6 between the flat flight state and the vertical lifting state of the unmanned aerial vehicle is completed, and compared with embodiment 2, two motors are saved, and the cost is lower.
Example 2. As shown in fig. 2 and 3, the device comprises a machine body 2 vertically penetrated by a rotating shaft 1 from the side, wherein two ends of the rotating shaft 1 are symmetrically distributed relative to the machine body 2, a power mechanism 3 for driving the rotating shaft 1 to rotate is arranged in the machine body 2, the power mechanism 3 is a motor, two ends of a motor shaft of the motor extend outwards, and the motor shaft of the motor is the rotating shaft 1; two ends of the rotating shaft 1 are provided with adapter seats 4, the adapter seats 4 are connected with propellers 5, and the adapter seats 4 are hinged with wings 6 with the width direction perpendicular to the rotating plane of the propellers 5; the wing 6 is provided with a turnover mechanism for enabling the wing 6 to rotate around the rotating seat 4, and the rotating plane of the wing 6 is parallel to the rotating plane of the propeller 6; when the unmanned aerial vehicle is in a high-speed flat flight state, the wings 6 rotate to a direction perpendicular to the fuselage, and one end of each wing 6 is lapped or clamped on the fuselage 2; when the unmanned aerial vehicle is in a vertically lifted state, the wing 6 rotates to a direction parallel to the fuselage 2.
As shown in fig. 4 and 5, the turnover mechanism comprises a motor 8 fixedly connected with the adapter seat 4 and a rotating plate 9 hinged with the adapter seat 4, and the adapter seat 4 is connected with the wing 6 through the rotating plate 9; a motor shaft of the motor 8 is provided with a first connecting rod 10, one end of the first connecting rod 10 is hinged with one end of a second connecting rod 11, and the other end of the second connecting rod 11 is hinged with a rotating plate 9; the motor 8 drives the wing 6 to rotate around the rotating seat 4 through the first connecting rod 10, the second connecting rod 11 and the rotating plate 9 in sequence. The rotating plate 9 is provided with 3 hinge points 12, and the second connecting rod 11 enables the wing 6 to obtain different turning speeds through connection with different hinge points 12.
In embodiment 2, the wing 6 is driven to rotate around the rotating seat 4 by means of the motor 8, and on the premise of determining the hinge point 12, the overturning speed is controlled by the motor 8, and the overturning speed is adjustable, so that the unmanned aerial vehicle attitude can be controlled.
The adaptor 4 in embodiments 1 and 2 has the same structure, and the swivel plate 9 in embodiments 1 and 2 has the same structure; can be mutually universal.
Working principle: as shown in fig. 2, in a fast flat flight state of the unmanned aerial vehicle, the propeller 5 provides forward flight power for the unmanned aerial vehicle, and the wing 6 provides lift force; as shown in fig. 1 or 3, the propeller 5 provides lift when the unmanned aerial vehicle is vertically lifted. In the process of high-speed horizontal flying turning vertical lifting, the power mechanism 3 drives the rotating shaft 1 to rotate and drives the propeller 5 and the wing 6 to simultaneously rotate around the rotating shaft 1; the wing 6 rotates around the rotating seat 4 under the action of the turnover mechanism. When the unmanned aerial vehicle falls, the wing 6 can play a role of a landing gear, the landing point range of the landing gear is very large, and the unmanned aerial vehicle is not easy to overturn and damage during falling. In addition, no matter what condition the unmanned aerial vehicle is, the air flow generated by the unmanned aerial vehicle propeller 5 is always parallel to the wing 6, and the air flow smoothly flows through the upper surface and the lower surface of the wing 6 after acting on the edge of the wing, so that the stability of the unmanned aerial vehicle is maintained and the lift loss is reduced; this is different with current tilting wing unmanned aerial vehicle, and current tilting wing unmanned aerial vehicle's wing is fixed wing formula, and when slow flight or vertical lift, the large tracts of land of screw air current acts on the wing, and the wing large tracts of land has blocked the air current, not only makes unmanned aerial vehicle's lift reduce, and the air current is beaten in the too big area of wing and can be produced irregular vortex and cause unmanned aerial vehicle unstable moreover.
Therefore, the invention has the advantages of not only being difficult to turn over and damage during landing, but also having the advantages of large lifting force and good aircraft stability during vertical lifting.
Claims (7)
1. The utility model provides a dual-purpose wing unmanned aerial vehicle that verts which characterized in that: comprises a machine body (2) vertically penetrated by a rotating shaft (1) from the side, wherein the two ends of the rotating shaft (1) are symmetrically distributed relative to the machine body (2), and a power mechanism (3) for driving the rotating shaft (1) to rotate is arranged in the machine body (2); two ends of the rotating shaft (1) are provided with adapter seats (4), the adapter seats (4) are connected with propellers (5), and the adapter seats (4) are hinged with wings (6) with the width direction perpendicular to the rotating plane of the propellers (5); the wing (6) is provided with a turnover mechanism which enables the wing (6) to rotate around the rotating seat (4), and the rotating plane of the wing (6) is parallel to the rotating plane of the propeller (6); when the unmanned aerial vehicle is in a high-speed flat flight state, the wing (6) rotates to be perpendicular to the direction of the fuselage, and one end of the wing (6) is lapped or clamped on the fuselage (2); when the unmanned aerial vehicle is in a vertical lifting state, the wing (6) rotates to be parallel to the direction of the fuselage (2).
2. The wing dual-purpose tilt wing unmanned aerial vehicle of claim 1, wherein: the tail end of the fuselage (2) is provided with a downward vertical tail wing (13), the turnover mechanism comprises a connecting rod (14) for connecting the vertical tail wing (13) with the wing (6), one end of the connecting rod (14) is connected with the vertical tail wing (13) through a first universal joint (15), and the other end of the connecting rod (14) is connected with the end part of the wing (6) through a second universal joint (16); the turnover mechanism further comprises a rotating plate (9) hinged with the adapter seat (4), and the adapter seat (4) is connected with the wing (6) through the rotating plate (9).
3. The wing dual-purpose tilt-wing unmanned aerial vehicle of claim 2, wherein: the connection point of the second universal joint (16) and the wing (6) is positioned at one end of the wing (6) for being lapped or clamped with the fuselage (2).
4. The wing dual-purpose tilt-wing unmanned aerial vehicle of claim 2, wherein: the first universal joint (15) and the second universal joint (16) are universal joint couplings.
5. The wing dual-purpose tilt-wing unmanned aerial vehicle of claim 2, wherein: the first universal joint (15) and the second universal joint (16) are hoses.
6. The wing dual-purpose tilt wing unmanned aerial vehicle of claim 1, wherein: the turnover mechanism comprises a motor (8) fixedly connected with the adapter seat (4) and a rotating plate (9) hinged with the adapter seat (4), and the adapter seat (4) is connected with the wing (6) through the rotating plate (9); a motor shaft of the motor (8) is provided with a first connecting rod (10), one end of the first connecting rod (10) is hinged with one end of a second connecting rod (11), and the other end of the second connecting rod (11) is hinged with a rotating plate (9); the motor (8) drives the wing (6) to rotate around the axis of the rotating shaft (1) through the first connecting rod (10), the second connecting rod (11) and the rotating plate (9) in sequence.
7. The wing dual-purpose tilt-wing unmanned aerial vehicle of claim 6, wherein: the rotating plate (9) is provided with a plurality of hinge points (12), and the second connecting rod (11) enables the wing (6) to obtain different overturning speeds through connection with different hinge points (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710783974.5A CN107380427B (en) | 2017-09-04 | 2017-09-04 | Wing dual-purpose type tilting wing unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710783974.5A CN107380427B (en) | 2017-09-04 | 2017-09-04 | Wing dual-purpose type tilting wing unmanned aerial vehicle |
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| CN107380427A CN107380427A (en) | 2017-11-24 |
| CN107380427B true CN107380427B (en) | 2023-06-20 |
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| CN112455670B (en) * | 2020-12-09 | 2022-03-22 | 杭州巨泳科技有限公司 | Flight control method of full-motion wing aircraft |
| CN114506451A (en) * | 2022-04-21 | 2022-05-17 | 西北工业大学 | Rotor unmanned aerial vehicle verts |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017016096A1 (en) * | 2015-07-27 | 2017-02-02 | 江阴市翔诺电子科技有限公司 | Novel vertical take-off and landing aircraft and control method therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101423117A (en) * | 2008-12-05 | 2009-05-06 | 北京航空航天大学 | Tilt-rotor plane operated and propelled by thrust scull and slipstream rudder |
| CN101875399B (en) * | 2009-10-30 | 2013-06-19 | 北京航空航天大学 | Tilt rotor aircraft adopting parallel coaxial dual rotors |
| CN101837195B (en) * | 2010-01-21 | 2012-02-08 | 罗之洪 | Model airplane with vertical takeoff and landing |
| CN104527976B (en) * | 2014-12-18 | 2016-11-09 | 中国民航大学 | The flexible rotor aircraft that verts of ala |
| CN104743112B (en) * | 2015-04-24 | 2017-04-12 | 南昌航空大学 | Novel tilt wing aircraft |
| JP2017007429A (en) * | 2015-06-18 | 2017-01-12 | 学校法人日本大学 | Control device, aircraft, and program |
| CN207173959U (en) * | 2017-09-04 | 2018-04-03 | 陈超 | A kind of wing unmanned plane that verts of wing dual-purpose type |
| CN207089652U (en) * | 2017-09-04 | 2018-03-13 | 陈超 | A kind of wing coordinated type verts wing unmanned plane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017016096A1 (en) * | 2015-07-27 | 2017-02-02 | 江阴市翔诺电子科技有限公司 | Novel vertical take-off and landing aircraft and control method therefor |
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