CN109866926A - VTOL fixed-wing reclining device and spinning solution - Google Patents

VTOL fixed-wing reclining device and spinning solution Download PDF

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Publication number
CN109866926A
CN109866926A CN201910105507.6A CN201910105507A CN109866926A CN 109866926 A CN109866926 A CN 109866926A CN 201910105507 A CN201910105507 A CN 201910105507A CN 109866926 A CN109866926 A CN 109866926A
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chip
linear motor
propeller
capacitor
connection
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CN201910105507.6A
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CN109866926B (en
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苏中滨
董守田
孔庆明
贾银江
戴百生
孙威
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Northeast Agricultural University
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Northeast Agricultural University
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Abstract

VTOL fixed-wing reclining device and spinning solution.The present invention relates to a kind of VTOL fixed-wing reclining device and spinning solutions.The bottom end of the propeller I (2) connects vertical bar I (9), the vertical bar I (9) passes through shaft I (10) connection cross bar I (11), the cross bar I (11) is arranged in linear motor I (12), the linear motor I (12) slides on vertical rectilinear orbit I (13), the vertical rail I (13) is arranged on linear motor II (14), and the linear motor II (14) is run on lateral rectilinear orbit II (15).Vertical rise and fall of the present invention is limited without place, by adjusting the direction controlling rise/landing and turning of propeller.

Description

VTOL fixed-wing reclining device and spinning solution
Technical field
The present invention relates to a kind of VTOL fixed-wing reclining device and spinning solutions.
Background technique
The present equal duty runway of unmanned plane carries out gliding and takes off, and lands, and limits greatly place, inconvenient to use.
Summary of the invention
The object of the present invention is to provide a kind of VTOL fixed-wing reclining device and spinning solutions, and vertical rise and fall is without place Limitation, by adjusting the direction controlling rise/landing and turning of propeller.
Above-mentioned purpose is realized by following technical scheme:
A kind of VTOL fixed-wing reclining device, composition includes: oval-shaped shell body 1, the oval-shaped shell body 1 Two sides are provided with round port I 17 and round port II 18, install propeller I 2, the circle on the round port I 17 Propeller II 3 is installed on port II 18, the tail end of the oval-shaped shell body 1 installs propeller III 4,
The bottom end of the propeller I 2 connects vertical bar I 9, and the vertical bar I 9 connects cross bar I 11, institute by shaft I 10 The cross bar I 11 stated is arranged in linear motor I 12, and the linear motor I 12 slides on vertical rectilinear orbit I 13, described Vertical rail I 13 be arranged on linear motor II 14, the linear motor II 14 is transported on lateral rectilinear orbit II 15 Row,
The lateral rectilinear orbit II 15 also runs linear motor IV 16,
The bottom end of the propeller II 3 connects vertical bar II, and the vertical bar II connects cross bar II by shaft II, described Cross bar II be arranged in linear motor III, the linear motor III slides on vertical rectilinear orbit II, and described is vertical Track II is arranged on linear motor IV 16;
Support frame I 5 and support frame II are installed in surface under the oval-shaped shell body 1, are provided on the support frame I 5 Center groove 8 and arc groove I 6 and arc groove II 7, the arc groove I 6 and arc groove II 7 are symmetrical centered on center groove 8 It is arranged, electromagnet III is set in the center groove 8, electromagnet I, the arc groove II are set on the arc groove I 6 Electromagnet II is set on 7.
Further, it is packed into PWM in the oval-shaped shell body 1 and captures circuit, the PWM captures circuit for signal It is transmitted to embedded ARM processor, the embedded ARM processor transmits a signal to linear motor I 12, linear motor II 14 linear motors III and linear motor IV 16, the embedded ARM processor transmit a signal to propeller II 3, propeller I 2 transmit a signal to solenoid driver circuit, the embedded-type ARM with propeller III 4, the embedded ARM processor Processor is logical by serial communication bus and CAN bus, navigation serial ports, laser altimeter serial ports, peripheral hardware serial ports, ground control station Serial ports two-way transmission signals are interrogated, power supply circuit is the power supply of entire circuit.
Further, the serial communication bus includes chip U1, No. 1 end and the 3 of chip U1 of the chip U1 Number end series capacitance C6, No. 5 end series capacitance C7 at No. 4 of the chip U1 ends and chip U1, No. 2 of the chip U1 Operating voltage VCC3.3, No. 15 ends ground connection of the chip U1, institute are connected after end and No. 16 end series capacitance C8 of chip U1 It is grounded after No. 6 end series capacitance C9 of the chip U1 stated.
Further, 9 road PWM capture circuit includes chip U2, and No. 2 ends of the chip U2 connect chip U2 No. 5 ends, No. 8 of chip U2 ends, No. 11 ends of chip U2, No. 14 ends of chip U2, No. 17 ends of chip U2, chip U2 20 Number end, No. 23 of chip U2 ends, No. 26 ends of chip U2 and operating voltage VCC5,
No. 3 of the chip U2 hold No. 12 ends, the chip U2 at No. 9 ends at No. 6 ends, chip U2 that connect chip U2, chip U2 No. 15 ends, No. 18 of chip U2 ends, No. 21 ends of chip U2, No. 24 ends of chip U2, No. 27 ends of chip U2 and ground terminal,
No. 1 end of the chip U2 connects the end IN_PWM1, and No. 4 ends of the chip U2 connect the end IN_PWM2, described No. 7 ends connection end IN_PWM3 of chip U2, No. 10 ends connection end IN_PWM4 of the chip U2, the 13 of the chip U2 Number end connection end IN_PWM5, No. 16 ends of the chip U2 connect the end IN_PWM6, and No. 19 ends of the chip U2 connect The end IN_PWM7, No. 22 ends of the chip U2 connect the end IN_PWM8, and No. 25 ends of the chip U2 connect IN_PWM9 End.
Further, the power supply circuit includes power interface J2, and No. 2 ends of the power interface J2 connect resistance One end of R20, sliding becomes one end of device RP1, one end of battery EQ, one end of capacitor E12, capacitor C43 at operating voltage VCC12 No. 1 end of the other end and chip U7,
One end of the sliding other end connection resistance R21 for becoming device RP1 and the base stage b of triode Q14, the triode One end of the emitter e connection resistance R19 of Q14, one end, three poles of the collector c connection capacitor C45 of the triode Q14 One end of the collector c connection resistance R22 of the base stage b, the triode Q15 of pipe Q15,
One end of No. 2 end connection diode VD2 of the chip U7 and one end of inductance L2, No. 4 ends of the chip U7 Connect one end of capacitor E11, one end of capacitor C44, operating voltage VCC5 and inductance L2 one end,
No. 1 of the power interface J2 end connection other end of resistance R20, the other end of resistance R21, capacitor C45 it is another End, the other end of resistance R22, the other end of resistance R19, the other end of battery EQ, the other end of capacitor E12, capacitor C43 it is another One end, No. 3 ends of chip U7, No. 5 ends of chip U7, the other end of diode VD2, capacitor E11 the other end and capacitor C44 The other end
Further, the power supply circuit further includes chip U4, the end IN of chip U4 connection operating voltage VCC5 with One end of capacitor C31, one end of OUT terminal connection the operating voltage VCC3.3 and capacitor C32 of the chip U4, the capacitor It is grounded behind the other end of the other end connection capacitor C32 of C31 and the end GND of chip U4.
The spinning solution of VTOL fixed-wing reclining device, when PWM captures circuit, after capturing remote controller signal, biography To embedded ARM processor, move downward embedded ARM processor control linear motor I 12, control linear motor II 14 to Movement outside makes 10 automatic bendings make vertical bar I 9 upright, changes the angle of propeller I 2 under the limitation of round port I 17, It being changed to vertically by level, the angle modification of propeller II 3 is identical as propeller I 2,
When propeller I 2 is by being uprightly changed to level, allow linear motor I 12 to move upwards, linear motor II 14 to intermediary movements i.e. Can, the angle modification of propeller II 3 is identical as propeller I 2.
The utility model has the advantages that
1. occupied area of the invention is small, landing does not need runway, saves space.
2. arc groove I of the invention, arc groove II are used cooperatively with center groove, convenient to stop on cross bar, electromagnet Cross bar is adsorbed, makes to stop more steady.
3. linear motor I of the invention cooperates linear motor II to use, propeller I can be made to carry out 90 degree of rotations, by erecting Directly become horizontal or become vertically by level, not only with VTOL but also flight angle can be can control.
4. embedded ARM processor of the invention is sufficient for the demand of 12 road PWM output and voltage measurement ADC, reduce External circuit component, stability are more preferable.
5. serial communication bus of the invention selects RS232, it is able to satisfy requirement, and stability is good.
Detailed description of the invention:
Attached drawing 1 is structural schematic diagram of the invention.
Attached drawing 2 is the top view of attached drawing 1.
Attached drawing 3 is the structural schematic diagram of present invention adjustment spiral propeller angle.
Attached drawing 4 is logical signal flow chart of the invention.
Attached drawing 5 is power supply circuit of the present invention.
Attached drawing 6 is the circuit diagram that 5V of the present invention turns 3.3V.
Attached drawing 7 is pwm signal capture figure of the invention.
Attached drawing 8 is serial communication bus circuit diagram of the invention.
Attached drawing 9 is solenoid driver circuit figure of the invention.
Attached drawing 10 is embedded ARM processor circuit diagram of the present invention.
Attached drawing 11 is I circuit diagram of linear motor of the invention.
Attached drawing 12 is II circuit diagram of linear motor of the invention.
Attached drawing 13 is III circuit diagram of linear motor of the invention.
Attached drawing 14 is IV circuit diagram of linear motor of the invention.
Attached drawing 15 is reset circuit figure of the invention.
Specific embodiment:
A kind of VTOL fixed-wing reclining device, composition includes: oval-shaped shell body 1, the oval-shaped shell body 1 Two sides are provided with round port I 17 and round port II 18, install propeller I 2, the circle on the round port I 17 Propeller II 3 is installed on port II 18, the tail end of the oval-shaped shell body 1 installs propeller III 4,
The bottom end of the propeller I 2 connects vertical bar I 9, and the vertical bar I 9 connects cross bar I 11, institute by shaft I 10 The cross bar I 11 stated is arranged in linear motor I 12, and the linear motor I 12 slides on vertical rectilinear orbit I 13, described Vertical rail I 13 be arranged on linear motor II 14, the linear motor II 14 is transported on lateral rectilinear orbit II 15 Row,
The lateral rectilinear orbit II 15 also runs linear motor IV 16,
The bottom end of the propeller II 3 connects vertical bar II, and the vertical bar II connects cross bar II by shaft II, described Cross bar II be arranged in linear motor III, the linear motor III slides on vertical rectilinear orbit II, and described is vertical Track II is arranged on linear motor IV 16;
Vertical bar I 9, shaft I 10, cross bar I 11, linear motor I 12, vertical rectilinear orbit I 13, linear motor II 14, transverse direction Rectilinear orbit II 15, linear motor IV 16, vertical bar II, shaft II, cross bar II, linear motor III, vertical rectilinear orbit II is packed into oval-shaped shell body 1,
Support frame I 5 and support frame II are installed in surface under the oval-shaped shell body 1, are provided on the support frame I 5 Center groove 8 and arc groove I 6 and arc groove II 7, the arc groove I 6 and arc groove II 7 are symmetrical centered on center groove 8 It is arranged, electromagnet III is set in the center groove 8, electromagnet I, the arc groove II are set on the arc groove I 6 Electromagnet II is set on 7.
Further, it is packed into PWM in the oval-shaped shell body 1 and captures circuit, the PWM captures circuit for signal It is transmitted to embedded ARM processor, the embedded ARM processor transmits a signal to linear motor I 12, linear motor II 14 linear motors III and linear motor IV 16, the embedded ARM processor transmit a signal to propeller II 3, propeller I 2 transmit a signal to solenoid driver circuit, the embedded-type ARM with propeller III 4, the embedded ARM processor Processor is logical by serial communication bus and CAN bus, navigation serial ports, laser altimeter serial ports, peripheral hardware serial ports, ground control station Serial ports two-way transmission signals are interrogated, power supply circuit is the power supply of entire circuit.
Further, the serial communication bus includes chip U1, No. 1 end and the 3 of chip U1 of the chip U1 Number end series capacitance C6, No. 5 end series capacitance C7 at No. 4 of the chip U1 ends and chip U1, No. 2 of the chip U1 Operating voltage VCC3.3, No. 15 ends ground connection of the chip U1, institute are connected after end and No. 16 end series capacitance C8 of chip U1 It is grounded after No. 6 end series capacitance C9 of the chip U1 stated.
Further, 9 road PWM capture circuit includes chip U2, and No. 2 ends of the chip U2 connect chip U2 No. 5 ends, No. 8 of chip U2 ends, No. 11 ends of chip U2, No. 14 ends of chip U2, No. 17 ends of chip U2, chip U2 20 Number end, No. 23 of chip U2 ends, No. 26 ends of chip U2 and operating voltage VCC5,
No. 3 of the chip U2 hold No. 12 ends, the chip U2 at No. 9 ends at No. 6 ends, chip U2 that connect chip U2, chip U2 No. 15 ends, No. 18 of chip U2 ends, No. 21 ends of chip U2, No. 24 ends of chip U2, No. 27 ends of chip U2 and ground terminal,
No. 1 end of the chip U2 connects the end IN_PWM1, and No. 4 ends of the chip U2 connect the end IN_PWM2, described No. 7 ends connection end IN_PWM3 of chip U2, No. 10 ends connection end IN_PWM4 of the chip U2, the 13 of the chip U2 Number end connection end IN_PWM5, No. 16 ends of the chip U2 connect the end IN_PWM6, and No. 19 ends of the chip U2 connect The end IN_PWM7, No. 22 ends of the chip U2 connect the end IN_PWM8, and No. 25 ends of the chip U2 connect IN_PWM9 End.
Further, the power supply circuit includes power interface J2, and No. 2 ends of the power interface J2 connect resistance One end of R20, sliding becomes one end of device RP1, one end of battery EQ, one end of capacitor E12, capacitor C43 at operating voltage VCC12 No. 1 end of the other end and chip U7,
One end of the sliding other end connection resistance R21 for becoming device RP1 and the base stage b of triode Q14, the triode One end of the emitter e connection resistance R19 of Q14, one end, three poles of the collector c connection capacitor C45 of the triode Q14 One end of the collector c connection resistance R22 of the base stage b, the triode Q15 of pipe Q15,
One end of No. 2 end connection diode VD2 of the chip U7 and one end of inductance L2, No. 4 ends of the chip U7 Connect one end of capacitor E11, one end of capacitor C44, operating voltage VCC5 and inductance L2 one end,
No. 1 of the power interface J2 end connection other end of resistance R20, the other end of resistance R21, capacitor C45 it is another End, the other end of resistance R22, the other end of resistance R19, the other end of battery EQ, the other end of capacitor E12, capacitor C43 it is another One end, No. 3 ends of chip U7, No. 5 ends of chip U7, the other end of diode VD2, capacitor E11 the other end and capacitor C44 The other end
Further, the power supply circuit further includes chip U4, the end IN of chip U4 connection operating voltage VCC5 with One end of capacitor C31, one end of OUT terminal connection the operating voltage VCC3.3 and capacitor C32 of the chip U4, the capacitor It is grounded behind the other end of the other end connection capacitor C32 of C31 and the end GND of chip U4.
The solenoid driver circuit includes phase inverter A6, and the output end of the phase inverter A6 connects opto-coupler chip U2 No. 2 ends, connection operating voltage VCC3, the opto-coupler chip U2 after No. 1 end series resistance R31 of the opto-coupler chip U2 No. 3 end series resistance R32 after connect operating voltage VCC5 and triode Q4 emitter e, No. 4 of the opto-coupler chip U2 Hold the base stage b of the collector c connecting triode Q4 of the base stage b, the triode Q5 of connecting triode Q5, the triode One end of the emitter e connection resistance R33 of Q5, one end of the other end connection resistance R44 of the resistance R33 and ground terminal, The grid g of the collector c and field-effect tube Q3 of the other end connecting triode Q4 of the resistance R44, the field-effect tube Voltage VCC12V, the source electrode s ground connection of the field-effect tube Q3 are connected after the drain electrode d connecting electromagnets in series of Q3.
No. 1 end of No. 3 end connecting interface J1 of the embedded ARM processor,
No. 2 ends of No. 4 end connecting interface J1 of the embedded ARM processor,
No. 3 ends of No. 5 end connecting interface J1 of the embedded ARM processor,
No. 4 ends of No. 6 end connecting interface J1 of the embedded ARM processor,
No. 20 ends of the embedded ARM processor are grounded,
One end of No. 25 end connection resistance R1 of the embedded ARM processor, the other end connection three of the resistance R1 The emitter e of the base stage b, the triode Q4 of pole pipe Q4 are grounded, the collector c connection motor MB4 of the triode Q4 Operating voltage VCC is connected afterwards,
One end of No. 26 end connection resistance R2 of the embedded ARM processor, the other end connection three of the resistance R2 The emitter e of the base stage b, the triode Q3 of pole pipe Q3 are grounded, the collector c connection motor MB3 of the triode Q3 Operating voltage VCC is connected afterwards,
One end of No. 27 end connection resistance R4 of the embedded ARM processor, the other end connection three of the resistance R4 The emitter e of the base stage b, the triode Q2 of pole pipe Q2 are grounded, the collector c connection motor MB2 of the triode Q2 Operating voltage VCC is connected afterwards,
One end of No. 28 end connection resistance R3 of the embedded ARM processor, the other end connection three of the resistance R3 The emitter e of the base stage b, the triode Q1 of pole pipe Q1 are grounded, the collector c connection motor MB1 of the triode Q1 Operating voltage VCC is connected afterwards,
The emitter e of the end the operating voltage VCC connecting triode Q5, the collector c connection resistance of the triode Q5 One end of R12 and No. 3 ends of interface J2, the other end ground connection of the resistance R12, the base stage b connection of the triode Q5 One end of resistance R11, the other end of the resistance R11 connect one end of resistance R10, one end of capacitor C5 and switch RSTK The other end of one end, the resistance R10 is grounded, and is connected after the other end of the other end connection switch RSTK of the capacitor C5 The end operating voltage VCC.
The spinning solution of VTOL fixed-wing reclining device, when PWM captures circuit, after capturing remote controller signal, biography To embedded ARM processor, move downward embedded ARM processor control linear motor I 12, control linear motor II 14 to Movement outside makes 10 automatic bendings make vertical bar I 9 upright, changes the angle of propeller I 2 under the limitation of round port I 17, It being changed to vertically by level, the angle modification of propeller II 3 is identical as propeller I 2,
When propeller I 2 is by being uprightly changed to level, allow linear motor I 12 to move upwards, linear motor II 14 to intermediary movements i.e. Can, the angle modification of propeller II 3 is identical as propeller I 2.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, this technology neck The variations, modifications, additions or substitutions that the technical staff in domain is made within the essential scope of the present invention also should belong to of the invention Protection scope.

Claims (7)

1. a kind of VTOL fixed-wing reclining device, composition includes: oval-shaped shell body (1), it is characterized in that: described is ellipse The two sides of circular outer shell (1) are provided with round port I (17) and round port II (18), pacify on the round port I (17) It fills propeller I (2), propeller II (3) is installed on the round port II (18), the tail of the oval-shaped shell body (1) End installation propeller III (4),
The bottom end of the propeller I (2) connects vertical bar I (9), and the vertical bar I (9) is horizontal by shaft I (10) connection Bar I (11), the cross bar I (11) are arranged in linear motor I (12), and the linear motor I (12) is in vertical straight line rail It is slided on road I (13), the vertical rail I (13) is arranged on linear motor II (14), the linear motor II (14) It is run on lateral rectilinear orbit II (15),
The lateral rectilinear orbit II (15) also runs linear motor IV (16),
The bottom end of the propeller II (3) connects vertical bar II, and the vertical bar II connects cross bar II, institute by shaft II The cross bar II stated is arranged in linear motor III, and the linear motor III slides on vertical rectilinear orbit II, and described is perpendicular Straight rail II is arranged on linear motor IV (16);
Surface installation support frame I (5) and support frame II under the oval-shaped shell body (1), the support frame I (5) On be provided with center groove (8) and arc groove I (6) and arc groove II (7), the arc groove I (6) and arc groove II (7) are in It is symmetrical arranged centered on heart groove (8), electromagnet III is set in the center groove (8), is set on the arc groove I (6) Electromagnet I is set, electromagnet II is set on the arc groove II (7).
2. VTOL fixed-wing reclining device according to claim 1, it is characterized in that: the oval-shaped shell body (1) it is packed into PWM in and captures circuit, the PWM capture circuit transmits a signal to embedded ARM processor, the insertion Formula arm processor transmits a signal to linear motor I (12), linear motor II (14) linear motor III and linear motor IV (16), the embedded ARM processor transmits a signal to propeller II (3), propeller I (2) and propeller III (4), institute The embedded ARM processor stated transmits a signal to solenoid driver circuit, and the embedded ARM processor is logical by serial ports Interrogate bus and CAN bus, navigation serial ports, laser altimeter serial ports, peripheral hardware serial ports, ground control station communication serial ports transmitted in both directions letter Number, power supply circuit is the power supply of entire circuit.
3. VTOL fixed-wing reclining device according to claim 1, it is characterized in that: the serial communication bus packet Include chip U1, No. 4 ends of No. 3 end series capacitance C6 at No. 1 end and chip U1 of the chip U1, the chip U1 and core Work is connected after No. 2 ends of No. 5 end series capacitance C7 of piece U1, the chip U1 and No. 16 end series capacitance C8 of chip U1 No. 15 ends of voltage VCC3.3, the chip U1 are grounded, and are grounded after No. 6 end series capacitance C9 of the chip U1.
4. VTOL fixed-wing reclining device according to claim 1, it is characterized in that: the 9 road PWM capture circuit Including chip U2, No. 5 ends of No. 2 of chip U2 end connection chip U2, No. 8 ends of chip U2, chip U2 No. 11 ends, No. 14 of chip U2 ends, No. 17 ends of chip U2, No. 20 ends of chip U2, No. 23 ends of chip U2, chip U2 No. 26 ends with Operating voltage VCC5,
No. 3 of the chip U2 hold No. 12 ends, the chip U2 at No. 9 ends at No. 6 ends, chip U2 that connect chip U2, chip U2 No. 15 ends, No. 18 of chip U2 ends, No. 21 ends of chip U2, No. 24 ends of chip U2, No. 27 ends of chip U2 and ground terminal,
No. 1 end of the chip U2 connects the end IN_PWM1, and No. 4 ends of the chip U2 connect the end IN_PWM2, described No. 7 ends connection end IN_PWM3 of chip U2, No. 10 ends connection end IN_PWM4 of the chip U2, the 13 of the chip U2 Number end connection end IN_PWM5, No. 16 ends of the chip U2 connect the end IN_PWM6, and No. 19 ends of the chip U2 connect The end IN_PWM7, No. 22 ends of the chip U2 connect the end IN_PWM8, and No. 25 ends of the chip U2 connect IN_PWM9 End.
5. VTOL fixed-wing reclining device according to claim 1, it is characterized in that: the power supply circuit includes electricity One end of No. 2 end connection resistance R20 of source interface J2, the power interface J2, operating voltage VCC12, cunning become the one of device RP1 End, one end of battery EQ, one end of capacitor E12, the other end of capacitor C43 and No. 1 of chip U7 are held,
One end of the sliding other end connection resistance R21 for becoming device RP1 and the base stage b of triode Q14, the triode One end of the emitter e connection resistance R19 of Q14, one end, three poles of the collector c connection capacitor C45 of the triode Q14 One end of the collector c connection resistance R22 of the base stage b, the triode Q15 of pipe Q15,
One end of No. 2 end connection diode VD2 of the chip U7 and one end of inductance L2, No. 4 ends of the chip U7 Connect one end of capacitor E11, one end of capacitor C44, operating voltage VCC5 and inductance L2 one end,
No. 1 of the power interface J2 end connection other end of resistance R20, the other end of resistance R21, capacitor C45 it is another End, the other end of resistance R22, the other end of resistance R19, the other end of battery EQ, the other end of capacitor E12, capacitor C43 it is another One end, No. 3 ends of chip U7, No. 5 ends of chip U7, the other end of diode VD2, capacitor E11 the other end and capacitor C44 The other end.
6. VTOL fixed-wing reclining device according to claim 1, it is characterized in that: the power supply circuit further includes One end of the connection of the end IN the operating voltage VCC5 and capacitor C31 of chip U4, the chip U4, the OUT terminal of the chip U4 Connect operating voltage VCC3.3 and capacitor C32 one end, the capacitor C31 the other end connection capacitor C32 the other end and It is grounded behind the end GND of chip U4.
7. using the spinning solution of VTOL fixed-wing reclining device described in claim 1, it is characterized in that: when PWM is captured Circuit after capturing remote controller signal, is transmitted to embedded ARM processor, and embedded ARM processor is made to control linear motor I (12) it moves downward, control linear motor II (14) and move outward, under the limitation of round port I (17), keep (10) automatic Bending allows vertical bar I (9) uprightly to change the angle of propeller I (2), be changed to vertically by level, the angle of propeller II (3) is repaired Change it is identical as propeller I (2),
When propeller I (2) is by being uprightly changed to level, linear motor I (12) is allowed to move upwards, linear motor II (14) is to centre The angle modification of movement, propeller II (3) is identical as propeller I (2).
CN201910105507.6A 2019-02-01 2019-02-01 Vertical take-off and landing fixed wing tilting device and rotating method Active CN109866926B (en)

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CN204134213U (en) * 2014-10-22 2015-02-04 邢中苏 Aeromodelling airplane VTOL power rack
CN105083550A (en) * 2015-09-06 2015-11-25 长沙鸿浪自动化科技有限公司 Fixed-wing aircraft realizing vertical take-off and landing

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101575004A (en) * 2009-06-09 2009-11-11 徐锦法 Flight-mode-variable unmanned aircraft with multiple sets of coaxial rotors
CN101870355A (en) * 2010-06-03 2010-10-27 杨茂亮 Coaxial double-rotary wing and tilt wing aircraft
CN103192986A (en) * 2012-01-10 2013-07-10 贝尔直升机泰克斯特龙公司 Rotorcraft vibration suppression system in a four corner pylon mount configuration
CN204134213U (en) * 2014-10-22 2015-02-04 邢中苏 Aeromodelling airplane VTOL power rack
CN105083550A (en) * 2015-09-06 2015-11-25 长沙鸿浪自动化科技有限公司 Fixed-wing aircraft realizing vertical take-off and landing

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