CN110053759A - A kind of morphing vertical take-off and landing drone - Google Patents
A kind of morphing vertical take-off and landing drone Download PDFInfo
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- CN110053759A CN110053759A CN201910390003.3A CN201910390003A CN110053759A CN 110053759 A CN110053759 A CN 110053759A CN 201910390003 A CN201910390003 A CN 201910390003A CN 110053759 A CN110053759 A CN 110053759A
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- 230000005540 biological transmission Effects 0.000 claims description 55
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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
-
- 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
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
-
- 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
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Abstract
The invention discloses a kind of morphing vertical take-off and landing drone, including drone body and the multiple Power Components being mounted in drone body, the drone body includes wing, the Power Component is used to generate the thrust or pulling force along drone body longitudinal direction, and the Power Component is arranged along the transverse direction of drone body；In the transverse direction of drone body, drone body is sequentially connected in series by multiple branches, two branches of arbitrary neighborhood can opposite overturning, and the direction of the torsion shaft of the overturning are as follows: one end is towards the front end of drone body, the other end towards the rear end of drone body；The Power Component at least there are three, and Power Component is distributed in different branches.This unmanned plane can not only overcome the mobility issues of unmanned plane landing, while can optimize the stability and control energy during unmanned plane rises, drops.
Description
Technical field
The present invention relates to air vehicle technique fields, more particularly to a kind of morphing vertical take-off and landing drone.
Background technique
The application field of unmanned plane is extremely extensive, especially in monitoring, investigation and survey field.Unmanned plane substantially can be at present
It is divided into fixed-wing unmanned plane, unmanned helicopter, multi-rotor unmanned aerial vehicle and vertical take-off and landing drone (VTOL).Fixed-wing unmanned plane
And vertical take-off and landing drone (VTOL) is to generate aerodynamic lift by wing, in voyage, speed, on ceiling better than rotor class nobody
Machine, fixed-wing unmanned plane are higher for take-off and landing site requirements, limit it is more, vertical take-off and landing drone (VTOL) although
The function of fixed-wing VTOL can be met, but the Power Component that hovers under fixed-wing state will cause biggish deadweight and pneumatic resistance
Power reduces the efficiency of fixed-wing state.
The structure design of existing unmanned plane is advanced optimized, to promote the efficiency of unmanned plane and promote its flight course
Middle stability is those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
It is advanced optimized for the structure design set forth above to existing unmanned plane, in the item for meeting efficient aerodynamic
Under part, solve the problems, such as that unmanned plane rises, drops hardly possible, the present invention provides a kind of morphing vertical take-off and landing drone.This unmanned plane
Unmanned plane landing mobility issues can not only be overcome, while can guarantee higher aerodynamic characteristic under cruising condition, improved simultaneously
Stability and control energy during unmanned plane, drop.
In view of the above-mentioned problems, a kind of morphing vertical take-off and landing drone provided by the invention by following technical essential come
Solve the problems, such as: a kind of morphing vertical take-off and landing drone including drone body and is mounted on multiple in drone body
Power Component, the drone body include wing, and the Power Component is for generating along drone body longitudinal direction
Thrust or pulling force, the Power Component are arranged along the transverse direction of drone body；
In the transverse direction of drone body, drone body is sequentially connected in series by multiple branches, arbitrary neighborhood
Two branches can opposite overturning, and the direction of the torsion shaft of the overturning are as follows: front end of the one end towards drone body, the other end
Towards the rear end of drone body；
The Power Component at least there are three, and Power Component is distributed in different branches.
For existing traditional fixed-wing unmanned plane: although fixed-wing unmanned plane has flight efficiency with respect to rotor wing unmanned aerial vehicle
The advantages such as height, voyage is remote, and speed is fast, but the complicated harsh drop conditions that take off are needed, operator has landing warp abundant
It tests, air crash accident easily occurs during landing and causes great economic loss.Its is existing by ventral installation landing
Umbrella umbrella by technical solution, easily influenced to cause aircraft drop point to deviate and uncontrollable by crosswind in glide landing, including day
Uncinate gyrus is received, and hits the modes such as net all along with great risk and the requirement high to operator；For existing Flying-wing
Unmanned plane: unmanned plane can possess preferably pneumatic efficiency using Flying-wing, but lack empennage and lead to ratio in terms of maneuvering performance
Poor, the biggest obstacle for influencing its development is shipping-direction stability and maneuverability；For existing composite wing VTOL fixed-wing
Unmanned plane: although composite wing VTOL fixed-wing unmanned plane solves fixed-wing and hangs down the characteristics of combining more rotors and fixed-wing
The problem of straight landing, but the components such as increased rotor arm of institute become deadweight under fixed-wing mode, reduce the load of unmanned plane
Lotus ability, and rotor component will cause very big aerodynamic drag under fixed-wing cruising condition, further decrease flying quality；Needle
To existing tailstock formula unmanned plane: tailstock formula unmanned plane solves the problems, such as fixed-wing VTOL, but also has it intrinsic to lack
Point: 1, the rotor-hub configuration of tandem is poor in VTOL stage stability and wind resistance, 2, tailstock formula configuration unmanned plane in order to
The safety and wind resistance for guaranteeing landing determine that it cannot possess excessive aspect ratio, so that in fixed-wing cruising phase efficiency
It is lower, 3, for landing the relatively full machine gravity centre distribution in tailstock Support Position it is not reasonable, mostly prolong wing and open up to distribution, dropping
It falls during landing and easily topples to the pitch orientation of wing.
In the present solution, the Power Component is the power unit on unmanned plane, can be used such as by brushless motor and connection
Propeller composition on brushless motor.The transverse direction is the line direction of unmanned plane left and right side, i.e. width direction；
The longitudinal direction is the line direction of the forward and backward side of unmanned plane, i.e. length direction.In the present solution, being set as drone body
Including wing, that is, it is intended to illustrate the lift that unmanned plane can be generated using wing, with the flight of fixed-wing posture.In the present solution, limit
It is set in the transverse direction of drone body, drone body is sequentially connected in series by multiple branches, and two points of arbitrary neighborhood
Portion can opposite overturning, and the direction of the torsion shaft of the overturning are as follows: front end of the one end towards drone body, other end direction
The rear end of drone body is intended to illustrate the width direction in drone body, by side to the other side of unmanned plane, nobody
Machine ontology includes multiple branches, and adjacent branch opposite can overturn, and one end of the torsion shaft is another towards the front end of unmanned plane
It holds towards the rear end of unmanned plane.But as those skilled in the art, the above restriction to torsion shaft direction, it should be understood that not office
The case where being limited to face front and back, hangs down if the axis direction of torsion shaft is tilted relative to unmanned plane longitudinal direction non-
In the case where straight, it should also be interpreted as being included in this programme.And it should according to existing unmanned plane form for the above branch
It is interpreted as the branch and includes the case where only including wing, such as unmanned plane of existing all-wing aircraft form；It also include fuselage and fuselage two
The case where wing, such as existing traditional fixed-wing unmanned plane is arranged in side.
In the present solution, be set as two branches of arbitrary neighborhood can opposite overturning, the Power Component at least there are three, and
Power Component is distributed in different branches, in this way, can change the span situation of unmanned plane, simultaneously by the above opposite overturning
During span situation changes, the generation positioned opposite of Power Component is opposite to be changed.In this way, this programme is in specific use, needle
To unmanned plane with the fixed-wing flight attitude situation of Flying-wing, due to may be reversed between the branch of composition wing, i.e., wing can
Deformation can be by the overturning, so that unmanned plane takeoff and landing in a manner of more rotors during unmanned plane landing, this
Sample, can solve tailstock landing formula fixed-wing Flying-wing unmanned plane take off, in descent shipping-direction stability difference and operating difficulty
Big problem: reach corresponding purpose in such a way that side when landing mode changes with landing reduces come wind front face area；Simultaneously
VTOL can be achieved.For unmanned plane by traditional fixed-wing unmanned plane is flat fly in a manner of, since wing is deformable, therefore pass through institute
Deformation is stated, fixed-wing mode is able to achieve to the mutual conversion between rotor mode, can solve with more rotor mode takeoff and landings
Fixed-wing unmanned plane landing mode risk is high, and big problem is relied on for place, combines the higher cruise efficiency of fixed-wing.
For composite wing VTOL fixed-wing unmanned plane, in scheme disclosed in this programme, by the overturning, Power Component is limited
Contribute direction etc., realize can be with free switching between fixed-wing and rotor mode on the basis of, due to not having under fixed-wing mode
Deadweight, the resistance etc. that Power Component as rotor introduces, pneumatic efficiency is more with respect to composite wing VTOL fixed-wing unmanned plane
It is good, allow this unmanned plane to load more multi-load etc..For tailstock formula unmanned plane, as described above, unmanned plane is horizontal in this programme
It is designed to the structure of direction tandem, is more rotor modes in the VTOL stage, relative to fixed string by overturning above
The control moment distribution of the rotor-hub configuration of column, all directions is more reasonable, and stability is high, and wind resistance is more preferable；Wing is to extend to can
The high aspect ratio wing for folding or being unfolded, therefore have higher pneumatic efficiency under fixed-wing mode and high-altitude long-endurance may be implemented
When task, while wing-folding constitutes more rotor modes in descent, and front face area greatly reduces after wing-folding,
Guarantee wind resistance when also increasing unmanned plane landing while fixed-wing efficient aerodynamic, unmanned plane is used under more rotor modes
The tailstock Support Position of landing is located at unmanned drive end unit, wing-folding when passing through landing, more rotor modes make the tail portion with
Ground formed face contact, compared with the existing technology in line contact, greatly improve structural stability when landing.Meanwhile
This programme provide unmanned plane when wing flight is fixed, since wing is extended to foldable and deformable, can change the span and
Wing area, thus the flight demand under adapting to different condition.For example aircraft usually requires wing in cruise with high aspect ratio
With big wing area, it is desirable to which high-speed flight needs low aspect ratio and small wing area.In addition, being folded in one by wing
Traditional fixed-wing can be played the role of by determining in degree vertically plays empennage, when for using such as Flying-wing, can increase Flying-wing
The lateral stability of unmanned plane.
It is used as those skilled in the art simultaneously, in practice, as long as the above opposite overturning can occur to can be changed
Layout between span shape and Power Component is necessarily affected for more rotor flyings, fixed-wing flight, therefore more than
The reliability that it is supported when opposite overturning is to the controllability of unmanned plane landing process, stability, aerodynamic drag, deadweight, landing
Etc. necessarily affecting.To sum up, this unmanned plane can not only overcome the mobility issues of unmanned plane landing, while can optimize nobody
Stability and control energy during machine, drop.
Further technical solution are as follows:
As the specific implementation form of the branch, the branch includes successively arranging along drone body transverse direction
The first wing, the second wing and third wing, be respectively and fixedly provided with power packages on first wing, the second wing and third wing
Part；
The axis direction of the torsion shaft is along the longitudinal direction of drone body, and the opposite overturning may be reversed to the
One wing, the second wing, third wing three are in the same plane.In the present solution, passing through the axis for limiting the torsion shaft
Direction so that unmanned plane is either during landing more rotor flyings or in fixed-wing flight course, corresponding wing it is equal
Can be parallel with the power output direction of Power Component, in this way, resistance when convenient for optimization unmanned plane during flying.Defined above is the three
It may be reversed in the same plane, it will be appreciated that when being in the same plane, one section of complete wing is formed by the three, this
Situation can correspond to the form of traditional fixed-wing unmanned plane, the form of all-wing aircraft form.
As a kind of unmanned plane of all-wing aircraft form, setting are as follows: the drone body only by the first wing, the second wing and
Third wing composition.This programme is designed using the above structure, not only be may make with span when fixed-wing flight in specific use
It is as big as possible, simultaneously because rise, drop control difficulty reduce, can VTOL and stability and safety it is more preferable.
The Power Component includes the first Power Component, the second Power Component, third Power Component and the 4th Power Component,
First Power Component is mounted on the free end of the first wing, and the 4th Power Component is mounted on the freedom of third wing
End, second Power Component are mounted on the link position of the second wing and the first wing, and the third Power Component is mounted on
The link position of third wing and the second wing.In the present solution, being actually that the Power Component is limited to positioned at wing
End position or the corner position being likely to occur, this setting aim at: wing loads distribution is more reasonable, and Power Component is in left and right
Symmetrical on wing, outside Power Component is located at left and right wing tip, can reduce wing root load to mitigate construction weight.
More specifically, it is arranged are as follows: further include the wingfold mechanism for realizing the opposite overturning, the wing folding
Folded mechanism includes steering engine, connecting rod and the first attachment lug；
In two branches being connected by wingfold mechanism, it is provided with the first attachment lug in each branch, in two branches
The first attachment lug articulated connection；Steering engine is installed therein in a branch, and one end of connecting rod and the steering engine arm of steering engine are hinged
The first attachment lug in connection, the other end of connecting rod and another branch is articulated and connected, and for completing same wing-folding
The axis for the articulated joints that mechanism is installed in drone body is parallel to each other.In the present solution, for realizing two branches upper
The shaft of one attachment lug articulated connection is the torsion shaft, in the present solution, the steering engine arm turns in steering engine work
Turn, steering engine arm drags corresponding first attachment lug by connecting rod and overturns around torsion shaft at this time, and corresponding branch is with the first connection
The opposite overturning is realized in auricle overturning.
More specifically, it present solution provides a kind of wingfold mechanism and concrete scheme with self-locking function: also wraps
The wingfold mechanism for realizing the opposite overturning is included, the wingfold mechanism includes driving motor, transmission shaft and snail
Worm and gear mechanism, the transmission shaft is connected with the output end of driving motor, and under the action of driving motor, the transmission shaft can be around
Own axes rotation；
The worm gear mechanism include worm gear and with the matched worm screw of the worm gear, the worm screw is connected with transmission shaft,
And worm screw and transmission shaft are coaxial；
Worm gear shaft is coaxially installed on worm gear；
It further include the second attachment lug, in two branches being connected by wingfold mechanism, driving motor, worm and gear machine
Structure, the second attachment lug and transmission shaft are mounted in same branch, and through-hole is provided on the second attachment lug, and worm gear shaft passes through
The second matching attachment lug is constrained in branch: worm gear shaft passes through the through-hole and is in clearance fit, snail with through-hole
Wheel shaft is fixedly connected with another branch.It is realized in the wingfold mechanism implementation of the overturning using connecting rod above, no
Only structure is complex, and under normal circumstances, and since the rotational travel of steering engine arm is smaller, the arm of force is short, it is desirable that steering engine need compared with
Big torque could be such that the branch rotates in shorter stroke, and the arm of force is mostly and changes in above procedure, in this way, with
Turned position difference torque change therewith, the arm of force gradually becomes smaller when close to dead-centre position, and output torque becomes larger, and may cause
Situation includes: that branch can not be fully deployed, need to be uneven by aerodynamic lift or unfolded revolving speed, is moved not smooth.This
In scheme, in transmission shaft rotation, corresponding worm screw rotates synchronously with transmission shaft, and the above worm screw rotation can drive worm gear to rotate,
In whole process, the arm of force variation, expansion or the folding non-uniform problem of revolving speed it are not related to；Meanwhile passing through the worm gear snail
Linkage, it can be achieved that wingfold mechanism it is self-locking, with the state for keeping the branch opposite or position；This programme structure simultaneously
Simply, it connects or installs since corresponding transmission parts quantity is few and easy acquisition is reliable, therefore it also has the characteristics that reliable performance.
A wingfold mechanism is used as a kind of, the implementation of whole branches or wing control, institute can be realized
Stating worm gear mechanism is two sets, each set worm gear mechanism include worm gear and with the matched worm screw of the worm gear；
Each end of the transmission shaft is respectively connected with a worm screw, and the worm screw and transmission shaft are coaxial；
In transmission shaft rotation, the worm gear in transmission shaft difference end is oppositely oriented；
The branch includes the first wing, the second wing and third machine successively arranged along drone body transverse direction
The wing is respectively and fixedly provided with Power Component on first wing, the second wing and third wing；
Driving motor, worm gear mechanism, the second attachment lug and transmission shaft are mounted on the second wing；
Each worm gear shaft is matched with the second attachment lug, side that the second wing is used to connect with the first wing, be used for
The side of third wing connection is provided with the second attachment lug；
For the axis direction of the transmission shaft along the transverse direction of the second wing, transmission shaft respectively holds the worm gear shaft on worm gear equal
It is constrained by the second attachment lug of the second wing corresponding end, the first wing is fixed on the worm gear shaft of the second wing side, third
Wing is fixed on the worm gear shaft of the second wing other side.In the present solution, in addition to being unfolded or being folded over the arm of force mentioned above
In journey other than the non-uniform problem of speed, it also may make that the first wing of the second wing two sides, third wing can synchronization actions.Benefit
Control difficulty and its flight stability of optimization during reducing unmanned plane during flying.Worm screw is all had for this both ends of the drive shaft
The case where, be preferably arranged to driving motor and connect with transmission shaft using bevel gear pair: the bevel gear pair includes two and mutually nibbles
The bevel gear of conjunction, one of them is mounted on driving motor, another is mounted on transmission shaft.It preferably, is optimization
The synchronism of two worm gears rotation, in favor of two wings or the synchronism of branch's movement, setting are as follows: the bevel gear is on transmission shaft
Fixed point be located at the middle part of transmission shaft.
Further, since corresponding wing or branch need through the through-hole worm gear shaft on second attachment lug, therefore
The two sides for being preferably arranged to each worm gear all have the second attachment lug.That is: to worm gear is worn, worm gear two sides all have to be used for worm gear shaft
Support the second attachment lug of matching worm gear shaft.
For the direction for preferably constraining worm gear shaft, setting are as follows: worm gear shaft is to worm gear is worn, on the worm gear shaft of worm gear two sides
Fixed connection point with worm gear shaft with corresponding branch.
Wing stop place is accurately controlled to realize, is arranged are as follows: the driving motor is servo motor, stepping electricity
Machine or brushless motor；
In the case where driving motor is brushless motor, further include sensor for detecting corresponding branch rotation angle or
For limiting the limit sensors of branch's rotation stop.It is above using servo motor and stepping electricity as those skilled in the art
Machine (stepper motor) although form can solve the problems, such as very well stop place control precision, be related at high cost, weight, body
The larger problem of product the case where for that can not select stepper motor, servo motor due to structure, weight or cost reason, can adopt
It is the implementation of brushless motor with the driving motor.In specific use, the above sensor is for detecting wing rotation angle
Degree is rotated in place situation for detecting wing with upper limit sensor, to realize the work to brushless motor by signal feedback
State control.Preferably, when considering cost, limit switch is used with upper limit sensor.
The invention has the following advantages:
In the present solution, be set as two branches of arbitrary neighborhood can opposite overturning, the Power Component at least there are three, and
Power Component is distributed in different branches, in this way, can change the span situation of unmanned plane, simultaneously by the above opposite overturning
During span situation changes, the generation positioned opposite of Power Component is opposite to be changed.In this way, this programme is in specific use, needle
To unmanned plane with the fixed-wing flight attitude situation of Flying-wing, due to may be reversed between the branch of composition wing, i.e., wing can
Deformation can be by the overturning, so that unmanned plane takeoff and landing in a manner of more rotors during unmanned plane landing, this
Sample, can solve tailstock landing formula fixed-wing Flying-wing unmanned plane take off, in descent shipping-direction stability difference and operating difficulty
Big problem: reach corresponding purpose in such a way that side when landing mode changes with landing reduces come wind front face area；Simultaneously
VTOL can be achieved.For unmanned plane by traditional fixed-wing unmanned plane is flat fly in a manner of, since wing is deformable, therefore pass through institute
Deformation is stated, fixed-wing mode is able to achieve to the mutual conversion between rotor mode, can solve with more rotor mode takeoff and landings
Fixed-wing unmanned plane landing mode risk is high, and big problem is relied on for place, combines the higher cruise efficiency of fixed-wing.
For composite wing VTOL fixed-wing unmanned plane, in scheme disclosed in this programme, by the overturning, Power Component is limited
Contribute direction etc., realize can be with free switching between fixed-wing and rotor mode on the basis of, due to not having under fixed-wing mode
Deadweight, the resistance etc. that Power Component as rotor introduces, pneumatic efficiency is more with respect to composite wing VTOL fixed-wing unmanned plane
It is good, allow this unmanned plane to load more multi-load etc..For tailstock formula unmanned plane, as described above, unmanned plane is horizontal in this programme
It is designed to the structure of direction tandem, is more rotor modes in the VTOL stage, relative to fixed string by overturning above
The control moment distribution of the rotor-hub configuration of column, all directions is more reasonable, and stability is high, and wind resistance is more preferable；Wing is to extend to can
The high aspect ratio wing for folding or being unfolded, therefore have higher pneumatic efficiency under fixed-wing mode and high-altitude long-endurance may be implemented
When task, while wing-folding constitutes more rotor modes in descent, and front face area greatly reduces after wing-folding,
Guarantee wind resistance when also increasing unmanned plane landing while fixed-wing efficient aerodynamic, unmanned plane is used under more rotor modes
The tailstock Support Position of landing is located at unmanned drive end unit, wing-folding when passing through landing, more rotor modes make the tail portion with
Ground formed face contact, compared with the existing technology in line contact, greatly improve structural stability when landing.
It is used as those skilled in the art simultaneously, in practice, as long as the above opposite overturning can occur to can be changed
Layout between span shape and Power Component is necessarily affected for more rotor flyings, fixed-wing flight, therefore more than
The reliability that it is supported when opposite overturning is to the controllability of unmanned plane landing process, stability, aerodynamic drag, deadweight, landing
Etc. necessarily affecting.To sum up, this unmanned plane can not only overcome the mobility issues of unmanned plane landing, while can optimize nobody
Stability and control energy during machine, drop.
Detailed description of the invention
Fig. 1 is a kind of structural representation of one specific embodiment of morphing vertical take-off and landing drone of the present invention
Figure, structural schematic diagram when which is the all-wing aircraft posture flight based on this programme；
Fig. 2 is a kind of structural representation of one specific embodiment of morphing vertical take-off and landing drone of the present invention
Figure, structural schematic diagram when which is the all-wing aircraft posture flight based on this programme, arrow as shown in the figure indicate corresponding power packages
The direction of rotation of part；
Fig. 3 is a kind of structural representation of one specific embodiment of morphing vertical take-off and landing drone of the present invention
Figure, structural schematic diagram when which is more rotor posture flights based on this programme；
Fig. 4 is a kind of structural representation of one specific embodiment of morphing vertical take-off and landing drone of the present invention
Figure, structural schematic diagram when which is more rotor posture flights based on this programme, arrow as shown in the figure indicate corresponding power
The direction of rotation of component；
Fig. 5 is a kind of structural representation of one specific embodiment of morphing vertical take-off and landing drone of the present invention
Figure, the schematic diagram are the structural schematic diagram that wing shown in Fig. 1 is deformed into a particular state during wing shown in Fig. 3；
Fig. 6 is that a kind of partial structurtes of one specific embodiment of morphing vertical take-off and landing drone of the present invention are shown
It is intended to, which is for reflecting the wingfold mechanism structure for using steering engine and its mounting means on unmanned plane；
Fig. 7 is that a kind of partial structurtes of one specific embodiment of morphing vertical take-off and landing drone of the present invention are shown
It is intended to, which is for reflecting the wingfold mechanism structure for using worm gear mechanism and its installation on unmanned plane
Mode.
Figure acceptance of the bid, which is remembered, is respectively as follows: the 1, second wing, the 2, first wing, 3, third wing, the 4, first Power Component, and 5, second
Power Component, 6, third Power Component, the 7, the 4th Power Component, 8, steering engine, 9, steering engine arm, 10, connecting rod, the 11, first engaging lug
Piece, 12, shaft, 13, driving motor, 14, bevel gear pair, 15, transmission shaft, 16, worm gear, 17, worm screw, 18, worm gear shaft.
Specific embodiment
Below with reference to embodiment, the present invention is described in further detail, but the present invention is not limited only to following implementation
Example:
Embodiment 1:
As shown in Figures 1 to 7, a kind of morphing vertical take-off and landing drone, including drone body and it is mounted on nobody
Multiple Power Components on machine ontology, the drone body include wing, and the Power Component is for generating along unmanned plane
The thrust or pulling force of ontology longitudinal direction, the Power Component are arranged along the transverse direction of drone body；
In the transverse direction of drone body, drone body is sequentially connected in series by multiple branches, arbitrary neighborhood
Two branches can opposite overturning, and the direction of the torsion shaft of the overturning are as follows: front end of the one end towards drone body, the other end
Towards the rear end of drone body；
The Power Component at least there are three, and Power Component is distributed in different branches.
For existing traditional fixed-wing unmanned plane: although fixed-wing unmanned plane has flight efficiency with respect to rotor wing unmanned aerial vehicle
The advantages such as height, voyage is remote, and speed is fast, but the complicated harsh drop conditions that take off are needed, operator has landing warp abundant
It tests, air crash accident easily occurs during landing and causes great economic loss.Its is existing by ventral installation landing
Umbrella umbrella by technical solution, easily influenced to cause aircraft drop point to deviate and uncontrollable by crosswind in glide landing, including day
Uncinate gyrus is received, and hits the modes such as net all along with great risk and the requirement high to operator；For existing Flying-wing
Unmanned plane: unmanned plane can possess preferably pneumatic efficiency using Flying-wing, but lack empennage and lead to ratio in terms of maneuvering performance
Poor, the biggest obstacle for influencing its development is shipping-direction stability and maneuverability；For existing composite wing VTOL fixed-wing
Unmanned plane: although composite wing VTOL fixed-wing unmanned plane solves fixed-wing and hangs down the characteristics of combining more rotors and fixed-wing
The problem of straight landing, but the components such as increased rotor arm of institute become deadweight under fixed-wing mode, reduce the load of unmanned plane
Lotus ability, and rotor component will cause very big aerodynamic drag under fixed-wing cruising condition, further decrease flying quality；Needle
To existing tailstock formula unmanned plane: tailstock formula unmanned plane solves the problems, such as fixed-wing VTOL, but also has it intrinsic to lack
Point: 1, the rotor-hub configuration of tandem is poor in VTOL stage stability and wind resistance, 2, tailstock formula configuration unmanned plane in order to
The safety and wind resistance for guaranteeing landing determine that it cannot possess excessive aspect ratio, so that in fixed-wing cruising phase efficiency
It is lower, 3, for landing the relatively full machine gravity centre distribution in tailstock Support Position it is not reasonable, mostly prolong wing and open up to distribution, dropping
It falls during landing and easily topples to the pitch orientation of wing.
In the present solution, the Power Component is the power unit on unmanned plane, can be used such as by brushless motor and connection
Propeller composition on brushless motor.The transverse direction is the line direction of unmanned plane left and right side, i.e. width direction；
The longitudinal direction is the line direction of the forward and backward side of unmanned plane, i.e. length direction.In the present solution, being set as drone body
Including wing, that is, it is intended to illustrate the lift that unmanned plane can be generated using wing, with the flight of fixed-wing posture.In the present solution, limit
It is set in the transverse direction of drone body, drone body is sequentially connected in series by multiple branches, and two points of arbitrary neighborhood
Portion can opposite overturning, and the direction of the torsion shaft of the overturning are as follows: front end of the one end towards drone body, other end direction
The rear end of drone body is intended to illustrate the width direction in drone body, by side to the other side of unmanned plane, nobody
Machine ontology includes multiple branches, and adjacent branch opposite can overturn, and one end of the torsion shaft is another towards the front end of unmanned plane
It holds towards the rear end of unmanned plane.But as those skilled in the art, the above restriction to torsion shaft direction, it should be understood that not office
The case where being limited to face front and back, hangs down if the axis direction of torsion shaft is tilted relative to unmanned plane longitudinal direction non-
In the case where straight, it should also be interpreted as being included in this programme.And it should according to existing unmanned plane form for the above branch
It is interpreted as the branch and includes the case where only including wing, such as unmanned plane of existing all-wing aircraft form；It also include fuselage and fuselage two
The case where wing, such as existing traditional fixed-wing unmanned plane is arranged in side.
In the present solution, be set as two branches of arbitrary neighborhood can opposite overturning, the Power Component at least there are three, and
Power Component is distributed in different branches, in this way, can change the span situation of unmanned plane, simultaneously by the above opposite overturning
During span situation changes, the generation positioned opposite of Power Component is opposite to be changed.In this way, this programme is in specific use, needle
To unmanned plane with the fixed-wing flight attitude situation of Flying-wing, due to may be reversed between the branch of composition wing, i.e., wing can
Deformation can be by the overturning, so that unmanned plane takeoff and landing in a manner of more rotors during unmanned plane landing, this
Sample, can solve tailstock landing formula fixed-wing Flying-wing unmanned plane take off, in descent shipping-direction stability difference and operating difficulty
Big problem: reach corresponding purpose in such a way that side when landing mode changes with landing reduces come wind front face area；Simultaneously
VTOL can be achieved.For unmanned plane by traditional fixed-wing unmanned plane is flat fly in a manner of, since wing is deformable, therefore pass through institute
Deformation is stated, fixed-wing mode is able to achieve to the mutual conversion between rotor mode, can solve with more rotor mode takeoff and landings
Fixed-wing unmanned plane landing mode risk is high, and big problem is relied on for place, combines the higher cruise efficiency of fixed-wing.
For composite wing VTOL fixed-wing unmanned plane, in scheme disclosed in this programme, by the overturning, Power Component is limited
Contribute direction etc., realize can be with free switching between fixed-wing and rotor mode on the basis of, due to not having under fixed-wing mode
Deadweight, the resistance etc. that Power Component as rotor introduces, pneumatic efficiency is more with respect to composite wing VTOL fixed-wing unmanned plane
It is good, allow this unmanned plane to load more multi-load etc..For tailstock formula unmanned plane, as described above, unmanned plane is horizontal in this programme
It is designed to the structure of direction tandem, is more rotor modes in the VTOL stage, relative to fixed string by overturning above
The control moment distribution of the rotor-hub configuration of column, all directions is more reasonable, and stability is high, and wind resistance is more preferable；Wing is to extend to can
The high aspect ratio wing for folding or being unfolded, therefore have higher pneumatic efficiency under fixed-wing mode and high-altitude long-endurance may be implemented
When task, while wing-folding constitutes more rotor modes in descent, and front face area greatly reduces after wing-folding,
Guarantee wind resistance when also increasing unmanned plane landing while fixed-wing efficient aerodynamic, unmanned plane is used under more rotor modes
The tailstock Support Position of landing is located at unmanned drive end unit, wing-folding when passing through landing, more rotor modes make the tail portion with
Ground formed face contact, compared with the existing technology in line contact, greatly improve structural stability when landing.
It is used as those skilled in the art simultaneously, in practice, as long as the above opposite overturning can occur to can be changed
Layout between span shape and Power Component is necessarily affected for more rotor flyings, fixed-wing flight, therefore more than
The reliability that it is supported when opposite overturning is to the controllability of unmanned plane landing process, stability, aerodynamic drag, deadweight, landing
Etc. necessarily affecting.To sum up, this unmanned plane can not only overcome the mobility issues of unmanned plane landing, while can optimize nobody
Stability and control energy during machine, drop.
Embodiment 2:
The present embodiment is further qualified on the basis of embodiment 1, as shown in Figures 1 to 7, the tool as the branch
Body way of realization, the branch include the first wing 2 successively arranged along drone body transverse direction, the second wing 1 and
Third wing 3 is respectively and fixedly provided with Power Component on first wing 2, the second wing 1 and third wing 3；
The axis direction of the torsion shaft is along the longitudinal direction of drone body, and the opposite overturning may be reversed to the
One wing 2, the second wing 1,3 three of third wing are in the same plane.In the present solution, passing through the axis for limiting the torsion shaft
Line direction, so that unmanned plane is either during landing more rotor flyings or in fixed-wing flight course, corresponding wing
Can be parallel with the power output direction of Power Component, in this way, resistance when convenient for optimization unmanned plane during flying.Defined above is described three
Person may be reversed in the same plane, it will be appreciated that when being in the same plane, one section of complete wing is formed by the three,
This situation can correspond to the form of traditional fixed-wing unmanned plane, the form of all-wing aircraft form.
As a kind of unmanned plane of all-wing aircraft form, setting are as follows: the drone body is only by the first wing 2, the second wing 1
And third wing 3 forms.This programme designs, when not only may make with fixed-wing flight using the above structure in specific use
The span is as big as possible, simultaneously because rise, drop control difficulty reduce, can VTOL and stability and safety it is more preferable.
The Power Component includes the first Power Component 4, the second Power Component 5, third Power Component 6 and the 4th power packages
Part 7, first Power Component 4 are mounted on the free end of the first wing 2, and the 4th Power Component 7 is mounted on third wing 3
Free end, second Power Component 5 is mounted on the link position of the second wing 1 and the first wing 2, the third power packages
Part 6 is mounted on the link position of third wing 3 and the second wing 1.In the present solution, being actually to be limited to the Power Component
End position positioned at wing or the corner position that is likely to occur, this setting aim at: wing loads are distributed more reasonable, power
Component is symmetrical on the wing of left and right, and outside Power Component is located at left and right wing tip, can reduce wing root load to mitigate structure
Weight.
More specifically, it is arranged are as follows: further include the wingfold mechanism for realizing the opposite overturning, the wing folding
Folded mechanism includes steering engine 8, connecting rod 10 and the first attachment lug 11；
In two branches being connected by wingfold mechanism, the first attachment lug 11, two branches are provided in each branch
On the first attachment lug 11 articulated connection；Steering engine 8 is installed therein in a branch, one end of connecting rod 10 and the rudder of steering engine 8
Horn 9 is articulated and connected, and the first attachment lug 11 on the other end of connecting rod 10 and another branch is articulated and connected, and for completing
The axis for the articulated joints that same wingfold mechanism is installed in drone body is parallel to each other.In the present solution, for real
The shaft 12 that upper first attachment lug 11 of Xian Liang branch is articulated and connected is the torsion shaft, in the present solution, in 8 work of steering engine
When making, the steering engine arm 9 is overturn, and steering engine arm 9 drags corresponding first attachment lug 11 by connecting rod 10 and overturns around torsion shaft at this time,
And corresponding branch overturns with the first attachment lug 11, realizes the opposite overturning.
Further, since corresponding wing or branch need through the through-hole worm gear shaft 18 on second attachment lug,
Therefore the two sides for being preferably arranged to each worm gear 16 all have the second attachment lug.That is: worm gear shaft 18 is to wearing worm gear 16,16 two sides of worm gear
All have the second attachment lug for being used to support matching worm gear shaft 18.
For the direction for preferably constraining worm gear shaft 18, setting are as follows: worm gear shaft 18 is to wearing worm gear 16, the snail of 16 two sides of worm gear
The fixed connection point of worm gear shaft 18 with corresponding branch is all had on wheel shaft 18.
Wing stop place is accurately controlled to realize, is arranged are as follows: the driving motor 13 is servo motor, stepping
Motor or brushless motor；
It further include the sensor for detecting corresponding branch's rotation angle in the case where driving motor 13 is brushless motor
Or the limit sensors for limiting branch's rotation stop.It is above to use servo motor and stepping as those skilled in the art
Motor (stepper motor) although form can solve the problems, such as very well stop place control precision, be related at high cost, weight,
The larger problem of volume can the case where for that can not select stepper motor, servo motor due to structure, weight or cost reason
Use the driving motor 13 for the implementation of brushless motor.In specific use, the above sensor is for detecting wing rotation
Gyration is rotated in place situation for detecting wing with upper limit sensor, to be realized by signal feedback to brushless motor
Working state control.Preferably, when considering cost, limit switch is used with upper limit sensor.
Embodiment 3:
As shown in fig. 7, more specifically, present solution provides a kind of wingfold mechanism with self-locking function and specifically
Scheme: further including the wingfold mechanism for realizing the opposite overturning, the wingfold mechanism include driving motor 13,
17 mechanism of transmission shaft 15 and 16 worm screw of worm gear, the transmission shaft 15 is connected with the output end of driving motor 13, in driving motor 13
Under the action of, the transmission shaft 15 can be rotated around own axes；
16 worm screw of worm gear, 17 mechanism include worm gear 16 and with the matched worm screw 17 of the worm gear 16, the worm screw 17 with
Transmission shaft 15 is connected, and worm screw 17 and transmission shaft 15 are coaxial；
Worm gear shaft 18 is coaxially installed on worm gear 16；
It further include the second attachment lug, in two branches being connected by wingfold mechanism, driving motor 13,16 snail of worm gear
17 mechanism of bar, the second attachment lug and transmission shaft 15 are mounted in same branch, and through-hole, snail are provided on the second attachment lug
Wheel shaft 18 is constrained in branch by the second matching attachment lug: worm gear shaft 18, which passes through the through-hole and with through-hole, is in
Clearance fit, worm gear shaft 18 are fixedly connected with another branch.The wingfold mechanism of the overturning is realized using connecting rod 10 above
In implementation, not only structure is complex, and under normal circumstances, since the rotational travel of steering engine arm 9 is smaller, the arm of force
It is short, it is desirable that steering engine 8 needs biggish torque, and the branch could be made to rotate in shorter stroke, the arm of force in above procedure
Mostly change, in this way, the arm of force gradually becomes smaller when close to dead-centre position as turned position difference torque changes therewith, exports
The case where torque becomes larger, and may cause includes: that branch can not be fully deployed, need to be by aerodynamic lift or unfolded revolving speed
Unevenly, it moves not smooth.In the present solution, corresponding worm screw 17 rotates synchronously with transmission shaft 15, above when transmission shaft 15 rotates
The rotation of worm screw 17 can drive worm gear 16 to rotate, and in the whole process, not be related to the arm of force variation, expansion or folding revolving speed are uneven
Even problem；Meanwhile by 16 worm screw of worm gear, 17 mechanism, it can be achieved that wingfold mechanism it is self-locking, to be kept for described point
The opposite state in portion or position；This programme structure is simple simultaneously, since corresponding transmission parts quantity is few and easy obtain reliably connects
It connects or installs, therefore it also has the characteristics that reliable performance.
A wingfold mechanism is used as a kind of, the implementation of whole branches or wing control, institute can be realized
Stating 16 worm screw of worm gear, 17 mechanism is two sets, and each set 16 worm screw of worm gear, 17 mechanism includes worm gear 16 and matched with the worm gear 16
Worm screw 17；
Each end of the transmission shaft 15 is respectively connected with a worm screw 17, and the worm screw 17 and transmission shaft 15 are coaxial；
In the transmission shaft 15 rotation, the worm gear 16 in the different ends of transmission shaft 15 is oppositely oriented；
The branch includes the first wing 2, the second wing 1 and third successively arranged along drone body transverse direction
Wing 3 is respectively and fixedly provided with Power Component on first wing 2, the second wing 1 and third wing 3；
Driving motor 13,16 worm screw of worm gear, 17 mechanism, the second attachment lug and transmission shaft 15 are mounted on the second wing 1；
Each worm gear shaft 18 is matched with the second attachment lug, side that the second wing 1 is used to connect with the first wing 2, use
The second attachment lug is provided in the side connecting with third wing 3；
The axis direction of the transmission shaft 15 is along the transverse direction of the second wing 1, and transmission shaft 15 is respectively on the worm gear 16 of end
Worm gear shaft 18 is constrained by the second attachment lug of 1 corresponding end of the second wing, and the first wing 2 is fixed on 1 side of the second wing
Worm gear shaft 18, third wing 3 is fixed on the worm gear shaft 18 of 1 other side of the second wing.
In the present solution, in the arm of force mentioned above, expansion or folding process other than the non-uniform problem of speed,
It also may make that the first wing 2, the third wing 3 of 1 two sides of the second wing can synchronization actions.During reduction unmanned plane during flying
Control difficulty and optimize its flight stability.The case where all having worm screw 17 for 15 both ends of this transmission shaft, is preferably arranged to
Driving motor 13 is connect with transmission shaft 15 using bevel gear pair 14: the bevel gear pair 14 includes two intermeshing cone teeth
Wheel, one of them is mounted on driving motor 13, another is mounted on transmission shaft 15.Preferably, to optimize two snails
The synchronism of 16 rotation of wheel, in favor of two wings or the synchronism of branch's movement, setting are as follows: the bevel gear is on transmission shaft 15
Fixed point be located at the middle part of transmission shaft 15.
Embodiment 4:
Such as Fig. 1 to Fig. 5, this gives a kind of concrete implementation forms: a kind of variant machine disclosed in institute's embodiment
Wing vertical take-off and landing drone, including wing and power unit, the brushless electricity that the dynamic structure unit is distributed by 4 bilateral symmetries
Machine and propeller form, and wing is the fusion type flying wing configuration for including the first wing, the second wing and third wing, and feature is machine
The wing is divided into the first wing, the second wing and three sections of third wing, is symmetrically equipped with power unit, and outer end wing can be rolled in wing
Rotary folding or expansion around the shaft under the action of folded mechanism, feature are landing hovering phase wing-folding with the mode of quadrotor
Tailstock formula layout is taken off, and outer segment wing can be unfolded in the sky and realize fixed-wing mode flight.The unmanned plane has maneuverability
VTOL and flight attitude conversion ability, landing of taking off can be completed under the premise of not depending on airfield runway, is had
Quadrotor landing has been taken into account while the outstanding cruise efficiency of Flying-wing, speed and endurance flexibly can be excellent with spot hover etc.
Point.
It is used for specific, in Power Component, with face heading visual angle, the first Power Component propeller inverse time
Needle rotation, the second Power Component propeller rotate clockwise, and third Power Component propeller rotates counterclockwise, the first Power Component
Propeller rotates clockwise, and control strategy is identical as quadrotor drone to realize pitching, yaw, rolling by adjusting motor speed
Turn, vertical lift etc. operation.Transition stage makes unmanned plane bow by adjusting the pitching moment of Power Component output, such as passes through tune
The revolving speed as the brushless motor of drive part on Power Component is saved, obtains the speed of direction of advance, while passing through fold mechanism
Expansion wing obtains more aerodynamic lifts, is eventually transformed into the flat winged mode of fixed-wing.Specific control strategy are as follows: pitch control strategy,
The linkage of pitch control rudder；Yaw Control Strategy, the adjustment of motor speed difference；The control strategy of rolling, pitch control rudder are differential.
In this way, special: the first Power Component is located at right side wing tip, and propeller rotates counterclockwise, the second Power Component spiral shell
Rotation paddle is located at left side wing tip, rotates clockwise.Spiral slip-stream and tip vortex direction of rotation that the propellers of two sides generates on the contrary,
Can have very great help to the ineffective effect that tip vortex generates is offset, the induced drag of wing can be greatly reduced, improve nothing
Man-machine lift resistance ratio, to increase voyage.The unmanned plane wing that the present embodiment is announced is extended to foldable and deformable, can be changed
The span and wing area, so that the flight demand under adapting to different condition, such as aircraft usually require that wing has height in cruise
Aspect ratio and big wing area, it is desirable to high-speed flight, it is desirable that low aspect ratio and small wing area.Additionally by the folding of wing
It can play the role of the lateral stability that traditional fixed-wing vertical tail increases Flying-wing's unmanned plane to a certain extent.
The above content is combine specific preferred embodiment to the further description of the invention made, and it cannot be said that originally
The specific embodiment of invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs,
The other embodiments obtained in the case where not departing from technical solution of the present invention, should be included within the scope of the present invention.
Claims (10)
1. a kind of morphing vertical take-off and landing drone, including drone body and the multiple power being mounted in drone body
Component, the drone body include wing, and the Power Component is used to generate the thrust along drone body longitudinal direction
Or pulling force, which is characterized in that the Power Component is arranged along the transverse direction of drone body；
In the transverse direction of drone body, drone body is sequentially connected in series by multiple branches, and two points of arbitrary neighborhood
Portion can opposite overturning, and the direction of the torsion shaft of the overturning are as follows: front end of the one end towards drone body, other end direction
The rear end of drone body；
The Power Component at least there are three, and Power Component is distributed in different branches.
2. a kind of morphing vertical take-off and landing drone according to claim 1, which is characterized in that the branch includes edge
Drone body transverse direction the first wing (2), the second wing (1) and the third wing (3) successively arranged, first machine
Power Component is respectively and fixedly provided on the wing (2), the second wing (1) and third wing (3)；
The axis direction of the torsion shaft is along the longitudinal direction of drone body, and the opposite overturning may be reversed to the first machine
The wing (2), the second wing (1), third wing (3) three are in the same plane.
3. a kind of morphing vertical take-off and landing drone according to claim 2, which is characterized in that the drone body
Only it is made of the first wing (2), the second wing (1) and third wing (3).
4. a kind of morphing vertical take-off and landing drone according to claim 2, which is characterized in that the Power Component packet
The first Power Component (4), the second Power Component (5), third Power Component (6) and the 4th Power Component (7) are included, described first is dynamic
Power component (4) is mounted on the free end of the first wing (2), and the 4th Power Component (7) is mounted on the freedom of third wing (3)
End, second Power Component (5) are mounted on the link position of the second wing (1) Yu the first wing (2), the third power packages
Part (6) is mounted on the link position of third wing (3) Yu the second wing (1).
5. a kind of morphing vertical take-off and landing drone according to claim 1, which is characterized in that further include for realizing
The wingfold mechanism of the opposite overturning, the wingfold mechanism includes steering engine (8), connecting rod (10) and the first attachment lug
(11)；
In two branches being connected by wingfold mechanism, it is provided in each branch the first attachment lug (11), in two branches
The first attachment lug (11) articulated connection；Steering engine (8) is installed therein in a branch, one end of connecting rod (10) and steering engine
(8) steering engine arm (9) articulated connection, the other end of connecting rod (10) hingedly connect with the first attachment lug (11) in another branch
It connects, and mutual with the axis of shaft (12) for completing the articulated connection that same wingfold mechanism is installed in drone body
In parallel.
6. a kind of morphing vertical take-off and landing drone according to claim 1, which is characterized in that further include for realizing
The wingfold mechanism of the opposite overturning, the wingfold mechanism includes driving motor (13), transmission shaft (15) and worm gear
Worm mechanism, the transmission shaft (15) is connected with the output end of driving motor (13), described under the action of driving motor (13)
Transmission shaft (15) can be rotated around own axes；
The worm gear mechanism include worm gear (16) and with the worm gear (16) matched worm screw (17), the worm screw (17) with
Transmission shaft (15) is connected, and worm screw (17) and transmission shaft (15) are coaxial；
Worm gear shaft (18) are coaxially installed on worm gear (16)；
It further include the second attachment lug, in two branches being connected by wingfold mechanism, driving motor (13), worm and gear machine
Structure, the second attachment lug and transmission shaft (15) are mounted in same branch, and through-hole, worm gear shaft are provided on the second attachment lug
(18) be constrained in branch by the second matching attachment lug: worm gear shaft (18), which passes through the through-hole and with through-hole, is in
Clearance fit, worm gear shaft (18) are fixedly connected with another branch.
7. a kind of morphing vertical take-off and landing drone according to claim 6, which is characterized in that the worm and gear machine
Structure is two sets, each set worm gear mechanism include worm gear (16) and with the worm gear (16) matched worm screw (17)；
Each end of the transmission shaft (15) is respectively connected with a worm screw (17), and the worm screw (17) and transmission shaft (15) are coaxial；
When the transmission shaft (15) rotate, the worm gear (16) in transmission shaft (15) different ends is oppositely oriented；
The branch includes the first wing (2), the second wing (1) and third successively arranged along drone body transverse direction
Wing (3) is respectively and fixedly provided with Power Component on first wing (2), the second wing (1) and third wing (3)；
Driving motor (13), worm gear mechanism, the second attachment lug and transmission shaft (15) are mounted on the second wing (1)；
Each worm gear shaft (18) is matched with the second attachment lug, side that the second wing (1) is used to connect with the first wing (2),
Side for connecting with third wing (3) is provided with the second attachment lug；
For the axis direction of the transmission shaft (15) along the transverse direction of the second wing (1), transmission shaft (15) respectively holds worm gear (16)
On worm gear shaft (18) constrained by second attachment lug of the second wing (1) corresponding end, the first wing (2) is fixed on second
The worm gear shaft (18) of wing (1) side, third wing (3) are fixed on the worm gear shaft (18) of the second wing (1) other side.
8. a kind of morphing vertical take-off and landing drone according to claim 6, which is characterized in that worm gear shaft (18) is to wearing
Worm gear (16), worm gear (16) two sides all have the second attachment lug for being used to support matching worm gear shaft (18).
9. a kind of morphing vertical take-off and landing drone according to claim 6, which is characterized in that worm gear shaft (18) is right
It wears worm gear (16), the fixed connection point of worm gear shaft (18) and corresponding branch is all had on the worm gear shaft (18) of worm gear (16) two sides.
10. a kind of morphing vertical take-off and landing drone according to any one of claims 6 to 9, which is characterized in that
The driving motor (13) is servo motor, stepper motor or brushless motor；
In the case where driving motor (13) are brushless motor, further include sensor for detecting corresponding branch rotation angle or
For limiting the limit sensors of branch's rotation stop.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112678149A (en) * | 2021-01-12 | 2021-04-20 | 西北工业大学太仓长三角研究院 | Multi-body active variable configuration distributed propeller aircraft |
| CN112849391A (en) * | 2021-03-31 | 2021-05-28 | 成都纵横大鹏无人机科技有限公司 | Unfolding-direction folding mechanism of variable wing of unmanned aerial vehicle and unmanned aerial vehicle |
| CN115416848A (en) * | 2022-09-27 | 2022-12-02 | 浙江天骥博特智能科技有限公司 | Reconfigurable hybrid wing vertical take-off and landing aircraft |
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