CN111137446B - Pneumatic layout of multi-rotor vertical take-off and landing unmanned aerial vehicle with stalling function - Google Patents
Pneumatic layout of multi-rotor vertical take-off and landing unmanned aerial vehicle with stalling function Download PDFInfo
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- CN111137446B CN111137446B CN201911364192.3A CN201911364192A CN111137446B CN 111137446 B CN111137446 B CN 111137446B CN 201911364192 A CN201911364192 A CN 201911364192A CN 111137446 B CN111137446 B CN 111137446B
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- wing
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- 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
- B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/30—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with provision for reducing drag of inoperative rotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
Abstract
The invention relates to the technical field of aerodynamic layout of aircrafts, and discloses an aerodynamic layout of a stalling multi-rotor vertical take-off and landing unmanned aerial vehicle, which comprises a fuselage, wings, an empennage and a flat-flying power unit; the wings comprise fixed sections and stalling rotors, and the stalling rotors are arranged at the far ends of the fixed sections on each side of the fuselage through telescopic mechanisms; the rotary wing capable of stopping rotating is positioned below the fixed section, and the bottom surface of the fixed section is provided with a groove which can be attached to the upper surface of any wing section of the rotary wing capable of stopping rotating; the windward side of the wing section of the rotor wing which can stop rotating and is positioned outside the groove faces the same direction with the windward side of the fixed section. According to the invention, the rotor capable of stalling provides the vertical lifting power of the unmanned aerial vehicle, and the rotor capable of stalling can be withdrawn to form a part of the fixed wing when the unmanned aerial vehicle flies flatly, so that the air resistance caused by the leakage of the rotor is reduced, and the flying speed can be improved; the stalling rotor wing has the retracting and releasing functions, can flexibly change the working form, realizes the effective fusion of vertical lifting and horizontal flight systems, reduces waste weight, and increases the duration of the navigation of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of aerodynamic layout of aircrafts, in particular to an aerodynamic layout of a stalling multi-rotor vertical take-off and landing unmanned aerial vehicle.
Background
The aerodynamic layout design is very important in the design of an aircraft system, is an important factor influencing the flight characteristics and flight performance of the aircraft, and is also a key factor determining the arrangement and design of subsystems of the aircraft. For the vertical take-off and landing unmanned aerial vehicle, two types, namely a multi-rotor wing and a vertical take-off and landing fixed wing, are common at present. Many rotor unmanned aerial vehicle is because of its self design defect, and the flying speed is slower, and the time of flight is shorter, and pneumatic efficiency is lower. The vertical take-off and landing fixed wing is divided into a combined type, a tail seat type, a tilting type and a stalling type. The combined type rotor wing device becomes 'waste weight' when flying flatly, increases air resistance, and has lower quality efficiency. The tail seat type airplane has weak wind resistance because the airplane body is perpendicular to the ground when taking off, and the control difficulty of the horizontal flight process is higher. The tilting type is tilted forwards due to the fact that thrust is tilted forwards when the tilting type flies flatly, flying stability is low, and design and control difficulty is high. In order to improve the flight speed of the vertical take-off and landing unmanned aerial vehicle and fully exert the aerodynamic efficiency of the appearance layout, the layouts still have certain lifting potential.
Disclosure of Invention
Based on the problems, the invention provides the aerodynamic layout of the stalling multi-rotor vertical take-off and landing unmanned aerial vehicle, the stalling rotor provides the vertical lifting power of the unmanned aerial vehicle, and the stalling rotor can be withdrawn to form a part of the fixed wing during flat flight, so that the air resistance caused by the leakage of the rotor is reduced, and the flying speed can be improved; the stalling rotor wing has the retracting and releasing functions, can flexibly change the working form, realizes the effective fusion of vertical lifting and horizontal flight systems, reduces waste weight, and increases the duration of the navigation of the unmanned aerial vehicle.
In order to solve the technical problems, the invention provides a pneumatic layout of a stalling multi-rotor vertical take-off and landing unmanned aerial vehicle, which comprises a body, wings, an empennage and a flat flying power unit fixed at the front end of the body; the wings comprise fixed sections symmetrically arranged at two sides of the fuselage and stoppable rotors which are arranged at the far ends of the fixed sections and can be used for the vertical lifting of the unmanned aerial vehicle, and the stoppable rotors are arranged at the far ends of the fixed sections at each side of the fuselage through a telescopic mechanism; the rotary wing capable of stopping rotating is positioned below the fixed section, and the bottom surface of the fixed section is provided with a groove which can be attached to the upper surface of any wing section of the rotary wing capable of stopping rotating; the windward side of the wing section of the stalling rotor positioned outside the groove faces the same direction as the windward side of the fixed section.
Furthermore, the number of the wings is two, the two groups of wings are symmetrically arranged on two sides of the fuselage, the far end of each group of wings on each side of the fuselage is provided with a fixed section and a stalling rotor, and the four stalling rotors are symmetrically arranged on two sides of the fuselage.
Furthermore, the telescopic mechanism comprises a telescopic cylinder fixed at the far end of the fixed section, and a telescopic rod of the telescopic cylinder is vertical to the wing; the stalling rotor wing comprises a first servo motor and a propeller positioned on an output shaft of the first servo motor, the first servo motor is arranged at the front end of a telescopic rod of the telescopic cylinder, and the output shaft of the first servo motor and the telescopic rod of the telescopic cylinder are positioned on the same central axis; the output shaft of the first servo motor is coaxially provided with a worm wheel, the fixed section is of a hollow structure, a second servo motor is fixed in the inner cavity of the fixed section, and the output shaft of the second servo motor is provided with a worm matched with the worm wheel.
Compared with the prior art, the invention has the beneficial effects that: the invention provides the vertical lifting power of the unmanned aerial vehicle through the rotary wing capable of stopping rotating, and the rotary wing capable of stopping rotating is withdrawn to form a part of the fixed wing when flying flatly, thereby reducing the air resistance caused by the leakage of the rotary wing and improving the flying speed; the stalling rotor wing has the retracting and releasing functions, can flexibly change the working form, realizes the effective fusion of vertical lifting and horizontal flight systems, reduces waste weight, and increases the duration of the navigation of the unmanned aerial vehicle.
Drawings
Fig. 1 is a schematic view of an aerodynamic layout of a stall multi-rotor vtol drone according to an embodiment;
FIG. 2 is a schematic view illustrating the connection between the rotor capable of stopping rotating and the fixed section when the unmanned aerial vehicle flies flatly in the embodiment;
FIG. 3 is a schematic view illustrating the connection between the rotor capable of stopping rotating and the fixed section when the unmanned aerial vehicle vertically takes off and lands in the embodiment;
FIG. 4 is an enlarged schematic view of detail A of FIG. 2;
FIG. 5 is an enlarged schematic view of detail B of FIG. 3;
FIG. 6 is a schematic view of an embodiment of a deactivatable rotor;
wherein, 1, a machine body; 2. a tail fin; 3. a horizontal flying power unit; 4. a fixed section; 5. a stallable rotor; 6. a telescopic cylinder; 7. a first servo motor; 8. a worm gear; 9. a worm; 10. and a second servo motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example (b):
referring to fig. 1-6, a pneumatic layout of a multi-rotor vertical take-off and landing unmanned aerial vehicle comprises a body 1, wings, a tail 2, and a flat flight power unit 3 fixed at the front end of the body 1; the wings comprise fixed sections 4 symmetrically arranged at two sides of the fuselage 1 and stalling rotors 5 which are arranged at the far ends of the fixed sections 4 and can be used for the unmanned aerial vehicle to vertically lift, and the stalling rotors 5 are arranged at the far ends of the fixed sections 4 at each side of the fuselage 1 through telescopic mechanisms; the rotary wing 5 capable of stopping rotating is positioned below the fixed section 4, and a groove capable of being attached to the upper surface of any one wing section of the rotary wing 5 capable of stopping rotating is formed in the bottom surface of the fixed section 4; the windward side of the wing segment of the deactivatable rotor 5 located outside the recess is oriented in the same direction as the windward side of the fixed segment 4.
In the embodiment, when the unmanned aerial vehicle flies, the flat flying power unit 3 at the front end of the fuselage 1 provides power for flat flying of the unmanned aerial vehicle, the stalling rotor 5 is connected with the fixed section 4 through the telescopic mechanism, the telescopic mechanism is in a contraction state in the flat flying process of the unmanned aerial vehicle, the upper surface of one wing section of the stalling rotor 5 is positioned in the groove on the lower surface of the fixed section 4, the groove can limit the stalling rotor 5, and the stalling rotor 5 is prevented from being twisted by air in the flying process to influence the stability of the unmanned aerial vehicle; but stall rotor 5's cross section is streamlined structure, and the windward side that is located the wing panel of the outer stall rotor 5 of recess is the same with the windward side orientation of canned paragraph 4, and the wing panel that can rotate the rotor that is located the recess constitutes complete wing with canned paragraph 4, guarantees that unmanned aerial vehicle stabilizes the flat flight. When unmanned aerial vehicle need carry out VTOL, telescopic machanism will stall rotor 5 and stretch out, but make and be located 5 surfaces of the stall rotor that lie in the recess outside being located the recess, then start the power that can stall rotor 5 provided vertical direction for unmanned aerial vehicle's lift. The unmanned aerial vehicle in the embodiment provides vertical lifting power through the rotor wing 5 capable of stalling, and the rotor wing 5 capable of stalling can be withdrawn to form a part of the fixed wing when the unmanned aerial vehicle flies flatly, so that air resistance caused by leakage of the rotor wing is reduced, and the flying speed can be improved; the stalling rotor wing 5 has the retracting and releasing functions, can flexibly change the working form, realizes the effective fusion of vertical lifting and horizontal flight systems, reduces waste weight, and increases the duration of the navigation of the unmanned aerial vehicle.
The number of the wings is two, the two groups of wings are symmetrically arranged on two sides of the fuselage 1, the far end of each side of the fuselage 1 of each group of wings is provided with a fixed section 4 and a rotary wing 5 which can stop rotating, and the four rotary wings 5 which can stop rotating are symmetrically arranged on two sides of the fuselage 1. But 5 quantity of stall rotor in this embodiment be four, and the symmetric distribution is favorable to providing the ascending power of stable vertical side with 1 both sides of fuselage, is favorable to guaranteeing the stability of unmanned aerial vehicle lift in-process gesture.
The telescopic mechanism comprises a telescopic cylinder 6 fixed at the far end of the fixed section 4, and a telescopic rod of the telescopic cylinder 6 is vertical to the wing; the rotor wing 5 capable of stopping rotating comprises a first servo motor 7 and a propeller positioned on an output shaft of the first servo motor 7, the first servo motor 7 is arranged at the front end of a telescopic rod of the telescopic cylinder 6, and the output shaft of the first servo motor 7 and the telescopic rod of the telescopic cylinder 6 are positioned on the same central axis; a worm wheel 8 is coaxially arranged on an output shaft of the first servo motor 7, the fixed section 4 is of a hollow structure, a second servo motor 10 is fixed in an inner cavity of the fixed section 4, and a worm 9 matched with the worm wheel 8 is installed on an output shaft of the second servo motor 10. The telescopic mechanism in the embodiment is a telescopic cylinder 6, the rotor wing 5 capable of stalling is controlled to rotate by a servo motor I7, and the telescopic cylinder 6 and the servo motor can be controlled by a programmable PLC controller, so that the controllability of the rotor wing 5 capable of stalling is ensured;
in addition, a worm wheel 8 is arranged on an output shaft of the servo motor I7, a worm 9 controlled by a servo motor II 10 is arranged in an inner cavity of the wing fixing section 4, and the worm wheel 8 can be matched with the worm 9 to form a worm wheel 8 and worm 9 mechanism; can stall rotor 5 withdraws the in-process, but drive stall rotor 5 through controlling the telescopic machanism shrink and retrieve, when retrieving to worm wheel 8 and worm 9 mesh mutually, rotate through two 10 rotatory drive worms 9 of servo motor and rotate, worm 9 then can finely tune the position of stall rotor 5, arrive the position back that corresponds with the recess at a wing section of stall rotor 5, telescopic cylinder 6 will stall a wing section of rotor 5 or retrieve to the recess in, but realize the quick recovery of stall rotor 5. The second servo motor 10 in this embodiment can also be controlled by a PLC controller. Can also set up photoelectric sensing ware in the position that recess and stall rotor 5's wing panel correspond to 8 worms of worm wheel 9 can be fast accurate fix a position stall rotor 5, further guarantee stall rotor 5's quick recovery. But worm wheel 8 and worm 9 in this embodiment form worm wheel 8 worm 9 mechanism when stall rotor 5 is close 4 lower surface positions of canned paragraph, stretch out completely at telescopic machanism and be in the rotatory in-process of stall rotor 5, worm wheel 8 and the 9 phase separations of worm, can not form the auto-lock and lead to the unable rotation of output shaft of servo motor 7, guarantee that unmanned aerial vehicle VTOL in-process can stall rotor 5 can normal rotatory.
The above is the embodiment of the present invention. The embodiments and specific parameters in the embodiments are only for the purpose of clearly illustrating the verification process of the invention and are not intended to limit the scope of the invention, which is defined by the claims, and all equivalent structural changes made by using the contents of the specification and the drawings of the present invention should be covered by the scope of the present invention.
Claims (2)
1. The utility model provides a pneumatic overall arrangement of many rotors VTOL unmanned aerial vehicle of stalling which characterized in that: comprises a fuselage (1), wings, a tail wing (2) and a flat flying power unit (3) fixed at the front end of the fuselage (1); the wings comprise fixed sections (4) symmetrically arranged at two sides of the fuselage (1) and stalling rotors (5) which are arranged at the far ends of the fixed sections (4) and can be used for the unmanned aerial vehicle to vertically lift, and the stalling rotors (5) are arranged at the far ends of the fixed sections (4) at each side of the fuselage (1) through telescopic mechanisms; the rotary wing (5) capable of stopping rotation is positioned below the fixed section (4), and a groove capable of being attached to the upper surface of any wing section of the rotary wing (5) capable of stopping rotation is formed in the bottom surface of the fixed section (4); the windward side of the wing section of the stalling rotor (5) positioned outside the groove is the same as the windward side of the fixed section (4);
the telescopic mechanism comprises a telescopic cylinder (6) fixed at the far end of the fixed section (4), and a telescopic rod of the telescopic cylinder (6) is perpendicular to the wing; the stalling rotor wing (5) comprises a first servo motor (7) and a propeller positioned on an output shaft of the first servo motor (7), the first servo motor (7) is installed at the front end of a telescopic rod of the telescopic cylinder (6), and the output shaft of the first servo motor (7) and the telescopic rod of the telescopic cylinder (6) are positioned on the same central axis; the worm wheel (8) is coaxially arranged on an output shaft of the first servo motor (7), the fixing section (4) is of a hollow structure, a second servo motor (10) is fixed in an inner cavity of the fixing section (4), and a worm (9) matched with the worm wheel (8) is installed on an output shaft of the second servo motor (10).
2. The aerodynamic layout of a rotorcraft VTOL unmanned aerial vehicle of claim 1, wherein: wing quantity is two sets of, two sets of the equal symmetry of wing set up in fuselage (1) both sides, every group wing all are provided with canned paragraph (4) and can stall rotor (5), four at the distal end of fuselage (1) every side can stall rotor (5) symmetry sets up in fuselage (1) both sides.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911364192.3A CN111137446B (en) | 2019-12-26 | 2019-12-26 | Pneumatic layout of multi-rotor vertical take-off and landing unmanned aerial vehicle with stalling function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911364192.3A CN111137446B (en) | 2019-12-26 | 2019-12-26 | Pneumatic layout of multi-rotor vertical take-off and landing unmanned aerial vehicle with stalling function |
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| Publication Number | Publication Date |
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| CN111137446A CN111137446A (en) | 2020-05-12 |
| CN111137446B true CN111137446B (en) | 2022-12-20 |
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| CN111619800B (en) * | 2020-06-05 | 2022-03-25 | 中国科学院长春光学精密机械与物理研究所 | Tail sitting type vertical take-off and landing unmanned aerial vehicle |
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