CN113636072A

CN113636072A - Cross-medium unmanned aerial vehicle based on tiltable ducted propeller

Info

Publication number: CN113636072A
Application number: CN202110932343.1A
Authority: CN
Inventors: 张立; 艾剑良
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2021-08-13
Filing date: 2021-08-13
Publication date: 2021-11-12

Abstract

The invention discloses a cross-medium unmanned aerial vehicle based on a tiltable ducted propeller, which belongs to the field of unmanned aerial vehicles and comprises a fuselage and a pair of wings symmetrically arranged on two sides of the fuselage, wherein the wing tips of the wings are provided with the tiltable ducted propeller, and the tiltable ducted propeller at least comprises a horizontal propulsion position capable of generating forward thrust, a lifting propulsion position capable of generating lift force and a tilting position which is positioned between the horizontal propulsion position and the lifting propulsion position and can simultaneously generate forward thrust and lift; the top surface of the machine body is also provided with a balancing propeller for balancing the lift force; the tail part of the fuselage is also provided with a tail rudder and a rudder. The unmanned aerial vehicle can complete maneuvering actions such as underwater diving, water-out takeoff, hovering and cruising in the air by controlling the angle rotation of the tiltable ducted propeller, so that the unmanned aerial vehicle has strong survival capability and task capability and has wide application field.

Description

Cross-medium unmanned aerial vehicle based on tiltable ducted propeller

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a cross-medium unmanned aerial vehicle based on a tiltable ducted propeller.

Background

An unmanned aircraft, abbreviated as "drone" and abbreviated as "UAV", is an aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. The unmanned aerial vehicle is wide in application field at present and has general application in military use, civil use and other aspects. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle is widely applied to the aspects of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, movie and television shooting and the like.

In some complicated operations, the unmanned aerial vehicle propeller is required to have higher pneumatic efficiency, and has the advantages of low pneumatic noise, high safety and the like, in addition, the unmanned aerial vehicle is also required to have the vertical take-off and landing function and the long-endurance characteristic, and the unmanned aerial vehicle is also required to have the cross-medium amphibious operation capability during some special tasks.

Disclosure of Invention

Aiming at the problems that an unmanned aerial vehicle in the prior art does not have cross-medium amphibious operation capability and cannot give consideration to vertical take-off and landing and long-endurance, the invention aims to provide a cross-medium unmanned aerial vehicle based on a tiltable ducted propeller.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a cross-medium unmanned aerial vehicle based on a tiltable ducted propeller comprises a fuselage and a pair of wings symmetrically arranged on two sides of the fuselage, wherein the tiltable ducted propeller is arranged at the wing tips of the wings, and at least comprises a horizontal propelling position capable of generating forward thrust, a lifting propelling position capable of generating lift force and a tilting position which is positioned between the horizontal propelling position and the lifting propelling position and can simultaneously generate forward thrust and lifting; a balancing propeller for balancing the lift force is further mounted on the top surface of the machine body; and the tail part of the machine body is also provided with a tail rudder and a rudder.

Preferably, the tiltable ducted propeller comprises a tiltable steering engine, a ducted shell, a bracket, a propeller and a motor; the tilting steering engine is fixedly installed at the wing tip of the wing, and an output shaft of the tilting steering engine is horizontally arranged and is perpendicular to the fuselage; the duct shell is fixedly arranged on an output shaft of the tilting steering engine and is perpendicular to the output shaft of the tilting steering engine; the bracket is fixedly arranged inside the ducted shell; the propeller is rotatably connected to the bracket and is coaxially arranged with the ducted casing; the motor is fixedly installed on the support, and an output shaft of the motor is mechanically connected with the propeller.

Preferably, the tiltable ducted propeller further comprises a short shaft, the short shaft is rotatably connected to the wing tips of the wings, one end of the short shaft is mechanically connected with the output shaft of the tiltable steering engine, and the other end of the short shaft is fixedly connected with the ducted shell.

Preferably, the trim propeller is mounted at a middle rear section of the fuselage.

Further, an aileron is also installed on the wing.

Preferably, the wings are mounted on an upper portion of the fuselage to elevate the position of the tiltable ducted propeller.

By adopting the technical scheme, due to the arrangement of the inclinable ducted propellers, the inclinable ducted propellers can generate thrust for driving the unmanned aerial vehicle to move forward or lift force for vertical take-off and landing through a rotation angle, so that the unmanned aerial vehicle has the vertical take-off and landing function of a multi-rotor unmanned aerial vehicle and the long-term advantage of a fixed-wing unmanned aerial vehicle, and can be freely and smoothly switched between two flight modes, thereby having strong survivability and fast flight task capability; in addition, because the arrangement of the rudder and the tail vane at the tail part of the unmanned aerial vehicle body enables the unmanned aerial vehicle to sail on water or under water by means of thrust generated by the inclinable ducted propeller, the unmanned aerial vehicle has an amphibious operation function of flying across media, and the unmanned aerial vehicle can control the rotation angle of the inclinable ducted propeller, so that the unmanned aerial vehicle can be controlled to perform maneuvering actions such as underwater diving, water launching, hovering and cruising in the air, and the like, and the unmanned aerial vehicle has very wide application fields, and can be applied to power inspection, search and rescue, environmental protection law enforcement and the like. Meanwhile, compared with an isolated common propeller, the ducted propeller system has higher pneumatic efficiency and has the advantages of low pneumatic noise, high safety and the like.

Drawings

FIG. 1 is a schematic view of an unmanned aerial vehicle in vertical take-off and landing;

fig. 2 is a schematic top view of the unmanned aerial vehicle in vertical take-off and landing;

fig. 3 is a schematic front view of the unmanned aerial vehicle of the present invention when navigating horizontally;

fig. 4 is a schematic top view of the unmanned aerial vehicle of the present invention when navigating horizontally.

In the figure, the aircraft comprises a fuselage 1, wings 2, ailerons 3, ducted propellers 4 capable of tilting, a steering engine 41 capable of tilting, a ducted shell 42, a bracket 43, a propeller 44, a tail rudder 5, a rudder 6 and a trim propeller 7.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on structures shown in the drawings, and are only used for convenience in describing the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.

In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.

A cross-medium unmanned aerial vehicle based on a tiltable ducted propeller comprises a fuselage 1 and a pair of wings 2 symmetrically installed on two sides of the fuselage 1, wherein ailerons 3 are configured on the wings 2.

The tiltable ducted propeller 4 is installed at the wing tip of the wing 2, and the tiltable ducted propeller 4 at least includes a horizontal propulsion position capable of generating forward thrust, a lifting propulsion position capable of generating lift force, and a tilting position which is located between the horizontal propulsion position and the lifting propulsion position and can simultaneously generate forward thrust and lift.

In this embodiment, the tiltable ducted propeller 4 includes a tiltable steering engine 41, a ducted housing 42, a bracket 43, a propeller 44, and a motor (not shown in the figure). Wherein, vert steering wheel 41 fixed mounting is in the wing tip department of wing 2 to the output shaft of verting steering wheel 41 is the axis that the level form was arranged and is perpendicular to fuselage 1. Usually, the tilt steering engine 41 is disposed inside the wing 2, an output shaft thereof extends out of a shaft hole formed in the wing 2 to the outside of the wing 2, and the output shaft and the shaft hole formed in the wing 2 are in sealing fit through a sealing structure, such as a sealing ring. Or in another embodiment, the tiltable ducted propeller 4 may further include a short shaft, the short shaft may be rotatably connected to the wing tip of the wing 2, one end of the short shaft extends into the fuselage 1 to be mechanically connected to the output shaft of the tiltable steering engine 41 located inside the fuselage 1, and the other end of the short shaft extends out of the fuselage 1 to be fixedly connected to the ducted housing 42, so that the tiltable steering engine 41 may be integrally installed inside the fuselage 1, and the length and diameter of the short shaft may be flexibly adjusted to meet design requirements. The duct shell 42 is integrally of a cylindrical shell structure with two open axial ends, the outer wall of the duct shell 42 is fixedly installed on the output shaft of the tilting steering engine 41, and the axis of the duct shell 42 is perpendicular to the output shaft of the tilting steering engine 41. The struts 43 are configured as spoke-like struts and are fixedly mounted on the inner side walls of the ducted casing 42 with the radial center of the struts 43 on the axis of the ducted casing 42. The propeller 44 is in turn rotatably connected to this support 43, and the propeller 44 is arranged coaxially with the ducted casing 42, wherein the propeller 44 comprises a propeller shaft and a plurality of circumferentially uniform blades mounted on the propeller shaft, which is mounted via bearings on bearing blocks arranged on the support 43. The motor is also fixedly arranged on the bracket 42, and the output shaft of the motor is mechanically connected with the propeller 44, in this embodiment, the motor is also arranged coaxially with the ducted casing 42, and preferably, the motor is directly connected with the propeller 44 through a coupler.

In this embodiment, the ducted propeller 4 that can vert is further set up and has a plurality of positions of verting (gear) or stepless deflection (arbitrary angle can be fixed) to adjust its proportional relation between the forward thrust and the lift that produces according to the use scene of difference, for example, can dispose the steering wheel 41 that verts and have the fixed function of locking of angle, thereby make its output shaft can be fixed at arbitrary a plurality of angles. With such an arrangement, when the tilting steering engine 41 rotates and the tiltable ducted propeller 4 is in a forward propulsion position, at this time, the propeller 44 is horizontal and parallel to the central axis of the airframe 1, so that the propeller 44 generates thrust for driving the unmanned aerial vehicle to advance horizontally after rotating, as shown in fig. 3 and 4; when the tilting steering engine 41 rotates and the tiltable ducted propeller 4 is in a lifting propulsion position, the propeller 44 is vertical and perpendicular to the central axis of the airframe 1, so that the propeller 44 generates a lift force for driving the unmanned aerial vehicle to vertically lift after rotating, as shown in fig. 1 and 2; and it is easy to understand that when the tilt steering engine 41 rotates to make the tilt ducted propeller 4 in the tilt position, the thrust generated by the rotation of the propeller 44 has two components, one component is the lift force and the other component is the forward thrust, so that the switching of the flight state, such as taking off from the water surface, raising the flight altitude or preparing for vertical landing, can be performed.

Wherein, the afterbody of fuselage 1 still installs tail rudder 5 and rudder 6, and wherein two and take the form of the horizontal symmetry and arrange in the both sides of fuselage 1 for tail rudder 5, and rudder 6 has one and arranges on the top surface axis of fuselage 1 perpendicularly. Tail rudder 5 and rudder 6 structure are similar, all including fixing the rudder body on fuselage 1, install the rudder blade that can deflect on the rudder body, and the rudder body is gone up (for example inside) and is installed the steering wheel simultaneously, drives the rudder blade through the steering wheel and deflects, and the rudder blade through deflecting produces required deflection force to control unmanned aerial vehicle's operations such as every single move and horizontal turn.

It will be appreciated that in order to prevent water being drawn into the ducted casing 42 to effect the high speed rotation of the propeller 44 when the drone is taking off the water, the wing 2 is configured in this embodiment to be located in an upper position of the fuselage 1 to raise the height position of the tiltably ducted propeller 4.

In addition, when unmanned aerial vehicle carried out VTOL, two can incline the ducted screw 4 and produce lift and be used for driving unmanned aerial vehicle VTOL, but lift center and focus do not coincide, and tail vane 5 can't continue to play the stable effect of holding unmanned aerial vehicle focus, consequently in this embodiment, the trim screw 7 that is used for balancing lift is still installed to the top surface at fuselage 1, and this trim screw 7 is installed in the well back end position of fuselage 1 usually. The trim propeller 7 also comprises a propeller shaft and a propeller blade, the propeller shaft is rotatably connected to the top surface of the fuselage 1 through a bearing, a motor (not shown in the figure) for driving the propeller shaft to rotate is arranged in the fuselage 1, and a sealing structure is arranged between the propeller shaft and the fuselage 1.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.

Claims

1. The utility model provides a cross medium unmanned aerial vehicle based on tilting duct screw, includes the fuselage and installs symmetrically a pair of wing on the both sides of fuselage, its characterized in that: the wing tip of the wing is provided with a tiltable ducted propeller, and the tiltable ducted propeller at least comprises a horizontal propelling position which can generate forward thrust, a lifting propelling position which can generate lift force and a tilting position which is positioned between the horizontal propelling position and the lifting propelling position and can simultaneously generate forward thrust and lifting; a balancing propeller for balancing the lift force is further mounted on the top surface of the machine body; and the tail part of the machine body is also provided with a tail rudder and a rudder.

2. The tiltable ducted propeller based cross-media drone of claim 1, wherein: the tiltable ducted propeller comprises a tiltable steering engine, a ducted shell, a bracket, a propeller and a motor; the tilting steering engine is fixedly installed at the wing tip of the wing, and an output shaft of the tilting steering engine is horizontally arranged and is perpendicular to the fuselage; the duct shell is fixedly arranged on an output shaft of the tilting steering engine and is perpendicular to the output shaft of the tilting steering engine; the bracket is fixedly arranged inside the ducted shell; the propeller is rotatably connected to the bracket and is coaxially arranged with the ducted casing; the motor is fixedly installed on the support, and an output shaft of the motor is mechanically connected with the propeller.

3. The tiltable ducted propeller based cross-media drone of claim 2, wherein: the tiltable ducted propeller further comprises a short shaft, the short shaft is rotatably connected to the wing tips of the wings, one end of the short shaft is mechanically connected with an output shaft of the tiltable steering engine, and the other end of the short shaft is fixedly connected with the ducted shell.

4. The tiltable ducted propeller based cross-media drone of claim 1, wherein: the trim propeller is installed at the middle rear section of the machine body.

5. The tiltable ducted propeller based cross-media drone of claim 1, wherein: and the wings are also provided with ailerons.

6. The tiltable ducted propeller based cross-media drone of claim 1, wherein: the wings are mounted on the upper portion of the fuselage to elevate the position of the tiltable ducted propellers.