CN117075527A - Flight control system of large fixed wing freight unmanned aerial vehicle - Google Patents
Flight control system of large fixed wing freight unmanned aerial vehicle Download PDFInfo
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- CN117075527A CN117075527A CN202311338873.9A CN202311338873A CN117075527A CN 117075527 A CN117075527 A CN 117075527A CN 202311338873 A CN202311338873 A CN 202311338873A CN 117075527 A CN117075527 A CN 117075527A
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- 230000005540 biological transmission Effects 0.000 claims description 114
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 239000000446 fuel Substances 0.000 claims description 3
- 230000009347 mechanical transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 23
- 230000008569 process Effects 0.000 abstract description 23
- 238000004891 communication Methods 0.000 abstract description 4
- 238000012544 monitoring process Methods 0.000 abstract description 4
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- 230000000694 effects Effects 0.000 description 6
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 3
- 239000000295 fuel oil Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
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- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention discloses a large fixed wing freight unmanned aerial vehicle flight control system, and relates to the technical field of freight unmanned aerial vehicles. The technical scheme is that the partial structure composition and the internal control system and the module of the existing fixed wing unmanned aerial vehicle are improved, wherein a flight controller is used as a total control device of an unmanned aerial vehicle body, on one hand, the data acquisition module is used for collecting and storing and processing information such as air pressure, airspeed, temperature, weather and the like in the flight process, and meanwhile, an aerial photographing device in the data acquisition module can also photograph an air-ground picture in the flight process; the flight controller is also internally provided with a Beidou short message communication module, and the collected and stored information data is transmitted to a ground control system in real time through the module, so that ground monitoring, control and feedback are facilitated; meanwhile, the flight controller can timely adjust the flight attitude of the unmanned aerial vehicle body through the flight adjusting system by combining the collected data information.
Description
Technical Field
The invention belongs to the technical field of freight unmanned aerial vehicles, and particularly relates to a flight control system of a large fixed-wing freight unmanned aerial vehicle.
Background
In the current age of fast-paced life, the development of freight unmanned aerial vehicles is widely focused on various industries; although the existing large-scale fixed wing unmanned aerial vehicle technology is relatively mature, some problems still exist in the actual working process, such as in the aspect of control and adjustment of the flight attitude of the unmanned aerial vehicle in the automatic flight or ground control flight process, the existing freight unmanned aerial vehicle still cannot achieve accurate control, especially when encountering extreme weather or emergency, the problems of inconvenient timely control and adjustment of the flight attitude including steering, taking off and landing, climbing, hovering and the like are solved; in this regard, we have devised a large fixed wing cargo unmanned aerial vehicle flight control system in combination with the prior art to address these issues in the prior art.
Disclosure of Invention
The invention aims to provide a large fixed wing freight unmanned aerial vehicle flight control system, which solves the problem that the control and adjustment of the flight attitude of the unmanned aerial vehicle can not be controlled accurately in the automatic flight or ground control flight process of the existing freight unmanned aerial vehicle.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a flight control system of a large fixed wing freight unmanned aerial vehicle, which comprises a machine body, a flight controller, a data acquisition module and a flight regulation system, wherein the machine body comprises a cabin body, a main engine, a main wing frame, a tail wing frame and a landing gear, one end of the cabin body is welded and fixed with the main engine, and the other end of the cabin body is welded and fixed with the tail wing frame; the two groups of main wing frames are respectively arranged on two opposite sides of the cabin body, and the landing gear is welded and fixed on the lower surface of the cabin body; the flight controller is a total control device of the machine body and is arranged in the cabin body, the data acquisition module is arranged at the connection part of the cabin body and the main engine, and the data acquisition module is electrically connected with the flight controller; the flight adjusting system is arranged in the cabin body and is electrically connected with the flight controller; the technical scheme is that the partial structure composition and the internal control system and the module of the existing fixed wing unmanned aerial vehicle are improved, wherein a flight controller is used as a total control device of an unmanned aerial vehicle body, on one hand, the data acquisition module is used for collecting and storing and processing information such as air pressure, airspeed, temperature, weather and the like in the flight process, and meanwhile, an aerial photographing device in the data acquisition module can also photograph an air-ground picture in the flight process; the flight controller is also internally provided with a Beidou short message communication module, and the collected and stored information data is transmitted to a ground control system in real time through the module, so that ground monitoring, control and feedback are facilitated; meanwhile, the flight controller can timely adjust the flight attitude of the unmanned aerial vehicle body through the flight adjusting system by combining the collected data information.
The inner surface of the cabin body is fixedly welded with a transmission box, the inside of the cabin body is provided with a main driving chamber, an adjusting chamber, a cargo hold and a supply chamber through the transmission box, wherein an engine is fixedly bolted to the inner surface of the main driving chamber, one end of an output shaft of the engine is welded with a driving gear, and the other end of the output shaft of the engine extends to the inside of the transmission box; the engine shaft is connected with the rotating shaft on the inner surface of the main engine, one end of the engine shaft is fixedly welded with the driven gear, and the driven gear extends to the inside of the main driving chamber along with the engine shaft and is meshed with the driving gear; the rotary shaft on the inner surface of the transmission box is connected with a driven shaft, a linkage shaft and a transmission shaft, wherein the opposite ends of the driven shaft are respectively in transmission fit with the output shaft of the engine and the linkage shaft through a gear meshing structure; a universal joint coupler is arranged between one end of the linkage shaft and the transmission shaft; the inner surface of the supply chamber is slidably clamped with a supply box, and aviation fuel oil is filled in the supply box; the inner surface of the supply chamber is also connected with a plurality of adjusting worms in a rotating shaft way, and the adjusting worms extend to the inside of the supply box and form a screw rod structure with the adjusting worms; the feeding chamber is internally provided with a counterweight motor, wherein one end of an output shaft of the counterweight motor is fixedly connected with the adjusting worm through a coupler, and the two adjusting worms are linked through an additional mechanical transmission mechanism; in combination with the structure, the engine is an external combustion engine, the main energy source of the engine is aviation fuel oil, and in the flight process, the counterweight motor can be controlled to work after ground control information and flight state information received by the flight controller, and a screw rod structure formed between the adjusting worm and the feed box is utilized to drive the feed box to slide, so that the counterweight and the gravity center of the unmanned aerial vehicle body are changed; in addition, in unmanned aerial vehicle flight process, the output shaft of engine drives the rotation of engine axle on the one hand and provides power for the aircraft, and on the other hand utilizes gear engagement structure and universal joint shaft coupling to drive the rotation of transmission shaft.
Further, an aileron is arranged below the main wing frame, two groups of adjusting cylinders are hinged between the main wing frame and the aileron, and the installation positions of the two groups of adjusting cylinders are spaced; the adjusting cylinder comprises an output end and an input end, wherein the output end extends to the inside of the main wing frame, an adjusting pipe is fixedly welded on the surface of the output end, an adjusting plug rod is clamped between the two adjusting pipes in a sliding manner, and a piston structure is formed between the adjusting plug rod and the adjusting pipe; the rear side of the main wing frame is hinged with a flap, and the peripheral side surface of the hinge shaft is welded with a driving disc; the middle section rotating shaft of the adjusting plug rod is connected with a driven frame, a linkage rod is eccentrically hinged between one end of the driven frame and the driving disc, an adjusting motor is arranged in the main wing frame, and an output shaft of the adjusting motor is fixedly connected with a hinge shaft of the flap; the flight adjusting system comprises a counterweight motor, an adjusting motor and a starting block, and the counterweight motor, the adjusting motor and the starting block are electrically connected with the flight controller; by combining the structure, in the flight process of the unmanned aerial vehicle body, the unmanned aerial vehicle comprises the flight gestures of taking off and landing, speed change, steering and the like, the adjusting motor needs to adjust and change the included angle between the flap and the main wing frame according to actual conditions, so that the driving disc and the linkage rod are utilized to drive the driven frame to slide, the adjusting plug rod is driven to slide between two adjusting pipes, the output end telescopic distance of two groups of adjusting cylinders is changed, the included angle between the aileron frame and the main wing frame is changed, and the auxiliary adjusting effect on the flight gestures is realized.
Further, the tail wing is welded and fixed on two opposite side surfaces of the tail wing frame, and the auxiliary engine is welded and fixed on the lower surface of the tail wing; the tail fin is of a hollow structure, and the inside of the tail fin is communicated with the transmission case; a plurality of driving chain wheels are welded on the peripheral side surface of the transmission shaft, a driven chain wheel is connected with the rotating shaft on the inner surface of the tail wing, and the driving chain wheels are respectively linked with the two driven chain wheels through a chain installation structure; the rotary shaft on the inner surface of the auxiliary engine is connected with an auxiliary engine paddle, and the rotary shaft of the auxiliary engine paddle is linked with the driven sprocket through a chain transmission structure of the mounting sprocket; it is to be added that a chain wheel and chain transmission structure formed between the driving chain wheel and the driven chain wheel is a speed changer combined mechanism, namely, a plurality of driving chain wheels with different specifications are welded on the same rotation shaft surface, and the meshed driving chain wheels with different specifications are adjusted by utilizing an adjusting component in the speed changer combined mechanism in the working process; in actual flight, if the unmanned aerial vehicle body needs to turn, the auxiliary steering effect of the unmanned aerial vehicle body is realized by adjusting the rotating speeds of the auxiliary engine paddles at the outer side and the inner side of the steering.
Further, the rear side surface of the tail wing frame is hinged with a tail vane, and an adjusting hinge rod is arranged between the tail wing frame and the tail vane; the inner surface of the adjusting chamber is fixedly welded with a transmission box, and the lower end of the adjusting hinge rod extends to the inside of the transmission box; the lower end of the adjusting hinge rod is welded with a driven worm wheel; the inner surface of the transmission box is slidably clamped with a transmission frame, the inner surface rotating shaft of the transmission frame is connected with two groups of transmission worms, the spiral grooves formed in the surfaces of the two groups of transmission worms are opposite in direction, and the two groups of transmission worms are respectively arranged on two opposite sides of the driven worm wheel; an adjusting gear is welded at one end of the transmission shaft and extends to the inside of the transmission box along with the transmission shaft; a limit chute is formed on one side surface of the transmission frame and is in sliding clamping connection with the transmission shaft through the limit chute; one end of the transmission worm is welded with a transmission gear which is arranged outside the transmission frame, wherein the two transmission gears are respectively arranged on two opposite sides of the adjusting gear and are matched with the adjusting gear; driven blocks are welded and fixed on the two opposite side surfaces of the transmission frame, a plurality of starting blocks are welded on the inner surface of the transmission box, and the starting blocks are respectively arranged on the two opposite sides of the transmission frame; the starting block is an electromagnet, the driven block is a permanent magnet, and the driven block is magnetically repelled when the starting block is electrified; a plurality of return springs are welded between the driven block and the inner surface of the transmission box, and the return springs are arranged between the starting block and the driven block; the starting block and the driven block are electrically connected with a power supply of the machine body through a double-pole switch;
in the steering operation of the actual flight, the double-blade switch is deflected to one side after receiving a signal, so that the corresponding starting block is electrified and magnetized, the transmission frame is pushed to slide oppositely by utilizing magnetic repulsive force, the transmission gear on one side is meshed with the adjusting gear, and meanwhile, the transmission worm on the side is meshed with the adjusting hinge rod, so that the engine shaft can be utilized to drive the tail rotor to deflect in the flight process, and the double-blade switch is turned off after the tail rotor is deflected to a corresponding angle; the spiral grooves of the two transmission worms are formed in opposite directions, so that the tail rotor can deflect in different directions.
Further, the data acquisition module comprises a airspeed tube and an aerial photographing device, the aerial photographing device is arranged at the connection part of the cabin body and the main engine, the airspeed tube is welded and fixed on the outside of the cabin body, and the airspeed tube and the aerial photographing device are electrically connected with the flight controller.
The invention has the following beneficial effects:
the technical scheme is that the partial structure composition and the internal control system and the module of the existing fixed wing unmanned aerial vehicle are improved, wherein a flight controller is used as a total control device of an unmanned aerial vehicle body, on one hand, the data acquisition module is used for collecting and storing and processing information such as air pressure, airspeed, temperature, weather and the like in the flight process, and meanwhile, an aerial photographing device in the data acquisition module can also photograph an air-ground picture in the flight process; the flight controller is also internally provided with a Beidou short message communication module, and the collected and stored information data is transmitted to a ground control system in real time through the module, so that ground monitoring, control and feedback are facilitated; meanwhile, the flight controller can timely adjust the flight attitude of the unmanned aerial vehicle body through the flight adjusting system by combining the collected data information;
the engine in the technical scheme is an external combustion engine, the main energy source of the engine is aviation fuel oil, in the flight process, the counterweight motor can be controlled to work after ground control information and flight state information received by the flight controller, and a screw rod structure formed between the adjusting worm and the supply box is utilized to drive the supply box to slide, so that the counterweight and the gravity center of the unmanned aerial vehicle body are changed; in addition, in the flight process of the unmanned aerial vehicle body, the unmanned aerial vehicle body comprises the flight gestures of taking off and landing, speed change, steering and the like, and the adjusting motor is required to adjust and change the included angle between the flap and the main wing frame according to actual conditions, so that the driving disc and the linkage rod are utilized to drive the driven frame to slide, and then the adjusting plug rod is driven to slide between the two adjusting pipes, the telescopic distance of the output ends of the two groups of adjusting cylinders is changed, and therefore the included angle between the aileron frame and the main wing frame is changed, and the auxiliary adjusting effect on the flight gestures is realized;
meanwhile, the technical scheme is that a chain wheel and chain transmission structure formed between the driving chain wheel and the driven chain wheel is a speed changer combined mechanism, namely, a plurality of driving chain wheels with different specifications are welded on the same rotation shaft surface, and the meshed driving chain wheels with different specifications are adjusted by utilizing an adjusting component in the speed changer combined mechanism in the working process; in actual flight, if the unmanned aerial vehicle body needs to turn, the auxiliary steering effect of the unmanned aerial vehicle body is realized by adjusting the rotating speeds of the auxiliary engine paddles at the outer side and the inner side of the steering.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a front view of a large fixed wing cargo unmanned aerial vehicle flight control system of the present invention;
FIG. 2 is a schematic view of the structure of section A-A of FIG. 1;
FIG. 3 is a top view of a large fixed wing cargo unmanned aerial vehicle flight control system of the present invention;
FIG. 4 is a schematic view of the structure of section B-B in FIG. 3;
FIG. 5 is a partial, displayed view of portion B of FIG. 4;
FIG. 6 is a partial, displayed view of portion C of FIG. 4;
FIG. 7 is a schematic view of the structure of section E-E in FIG. 6;
FIG. 8 is a schematic view of the structure of section D-D of FIG. 4;
fig. 9 is an internal structural view of the main wing frame.
In the drawings, the list of components represented by the various numbers is as follows:
1. a cabin body; 2. a main engine; 3. a transmission case; 4. a main driving chamber; 5. a conditioning chamber; 6. a cargo hold; 7. a supply chamber; 8. an engine; 9. a drive gear; 10. an engine shaft; 11. a driven gear; 12. a driven shaft; 13. a linkage shaft; 14. a transmission shaft; 15. a universal joint coupling; 16. a supply box; 17. adjusting a worm; 18. a main wing frame; 19. aileron frame; 20. an adjusting cylinder; 21. an adjusting tube; 22. adjusting the plug rod; 23. a drive plate; 24. a driven frame; 25. a linkage rod; 26. a tail frame; 27. a tail wing; 28. a secondary engine; 29. a drive sprocket; 30. a driven sprocket; 31. a secondary engine paddle; 32. tail rotor; 33. adjusting the hinge rod; 34. a transmission box; 35. a transmission frame; 36. a drive worm; 37. a driven worm wheel; 38. an adjusting gear; 39. limiting sliding grooves; 40. a transmission gear; 41. a driven block; 42. a start block; 43. a return spring; 44. an aerial photographing device; 45. landing gear; 46. a airspeed tube; 47. and (3) a flap.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "middle," "outer," "inner," and the like indicate an orientation or a positional relationship, and are merely for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1-9, the invention discloses a flight control system of a large fixed wing freight unmanned aerial vehicle, which comprises a machine body, a flight controller, a data acquisition module and a flight adjusting system, wherein the machine body comprises a cabin body 1, a main engine 2, a main wing frame 18, a tail wing frame 26 and a landing gear 45, wherein one end of the cabin body 1 is welded and fixed with the main engine 2, and the other end of the cabin body is welded and fixed with the tail wing frame 26; the two groups of main wing frames 18 are respectively arranged on two opposite sides of the cabin body 1, and the landing gear 45 is welded and fixed on the lower surface of the cabin body 1; the flight controller is a main control device of the machine body, is arranged in the cabin body 1, and is electrically connected with the data acquisition module which is arranged at the connection part of the cabin body 1 and the main engine 2; the flight adjusting system is arranged in the cabin body 1 and is electrically connected with the flight controller; the technical scheme is that the partial structure composition and the internal control system and the module of the existing fixed wing unmanned aerial vehicle are improved, wherein a flight controller is used as a total control device of an unmanned aerial vehicle body, on one hand, the data acquisition module is used for collecting and storing and processing information such as air pressure, airspeed, temperature, weather and the like in the flight process, and meanwhile, the aerial photographing device 44 in the data acquisition module can also photograph an air-ground picture in the flight process; the flight controller is also internally provided with a Beidou short message communication module, and the collected and stored information data is transmitted to a ground control system in real time through the module, so that ground monitoring, control and feedback are facilitated; meanwhile, the flight controller can timely adjust the flight attitude of the unmanned aerial vehicle body through the flight adjusting system by combining the collected data information.
The inner surface of the cabin body 1 is fixedly welded with a transmission case 3, the inside of the cabin body 1 is provided with a main driving chamber 4, an adjusting chamber 5, a cargo hold 6 and a supply chamber 7 through the transmission case 3, wherein an engine 8 is fixedly bolted to the inner surface of the main driving chamber 4, one end of an output shaft of the engine 8 is welded with a driving gear 9, and the other end extends into the transmission case 3; the inner surface rotation shaft of the main engine 2 is connected with an engine shaft 10, one end of the engine shaft 10 is welded and fixed with a driven gear 11, and the driven gear 11 extends to the inside of the main driving chamber 4 along with the engine shaft 10 and is meshed with the driving gear 9; the inner surface rotation shaft of the transmission case 3 is connected with a driven shaft 12, a linkage shaft 13 and a transmission shaft 14, wherein the opposite ends of the driven shaft 12 are respectively in transmission fit with the output shaft of the engine 8 and the linkage shaft 13 through a gear meshing structure; a universal joint coupling 15 is arranged between one end of the linkage shaft 13 and the transmission shaft 14; the inner surface of the supply chamber 7 is slidably engaged with a supply tank 16, and aviation fuel is filled in the supply tank 16; the inner surface of the supply chamber 7 is also connected with a plurality of adjusting worms 17 in a rotating shaft way, and the adjusting worms 17 extend into the supply box 16 and form a screw rod structure with the supply box; a counterweight motor is arranged in the supply chamber 7, wherein one end of an output shaft of the counterweight motor is fixedly connected with the adjusting worm 17 through a coupler, and the two adjusting worm 17 are linked through an additional mechanical transmission mechanism; in combination with the above structure, the engine 8 is an external combustion engine, the main energy source of the engine is aviation fuel, and in the flight process, the counterweight motor can be controlled to work after the ground control information and the flight state information received by the flight controller, and the feed box 16 is driven to slide by utilizing a screw rod structure formed between the adjusting worm 17 and the feed box 16, so that the counterweight and the gravity center of the unmanned aerial vehicle body are changed; in addition, during the flight of the unmanned aerial vehicle, the output shaft of the engine 8 drives the engine shaft 10 to rotate to provide power for the unmanned aerial vehicle on one hand, and drives the transmission shaft 14 to rotate by utilizing the gear meshing structure and the universal joint coupling 15 on the other hand.
Preferably, an aileron 19 is arranged below the main wing frame 18, two groups of adjusting cylinders 20 are hinged between the main wing frame 18 and the aileron 19, and the installation positions of the two groups of adjusting cylinders 20 are spaced; the adjusting cylinder 20 comprises an output end and an input end, wherein the output end extends to the inside of the main wing frame 18, an adjusting pipe 21 is welded and fixed on the surface of the output end, an adjusting plug rod 22 is slidably clamped between the two adjusting pipes 21, and a piston structure is formed between the adjusting plug rod 22 and the adjusting pipe 21; the rear side of the main wing frame 18 is hinged with a flap 47, and the circumferential side of the hinge shaft is welded with a driving disc 23; the middle section rotation shaft of the adjusting plug rod 22 is connected with a driven frame 24, a linkage rod 25 is eccentrically hinged between one end of the driven frame 24 and the driving disc 23, and an adjusting motor is arranged in the main wing frame 18, wherein an output shaft of the adjusting motor is fixedly connected with a hinge shaft of the flap 47; the flight adjusting system comprises a counterweight motor, an adjusting motor and a starting block 42, and the counterweight motor, the adjusting motor and the starting block 42 are electrically connected with the flight controller; in combination with the above structure, in the flight process of the unmanned aerial vehicle body, including taking off and landing, speed change, steering and other flight attitudes of the unmanned aerial vehicle body, the adjusting motor needs to adjust and change the included angle between the flap 47 and the main wing frame 18 according to actual conditions, thereby utilizing the driving disc 23 and the linkage rod 25 to drive the driven frame 24 to slide, and then driving the adjusting plug rod 22 to slide between the two adjusting pipes 21, changing the output telescopic distance of the two groups of adjusting cylinders 20, thereby changing the included angle between the aileron frame 19 and the main wing frame 18, and realizing the auxiliary adjusting effect on the flight attitudes.
Preferably, the tail wing 27 is welded and fixed on two opposite side surfaces of the tail wing frame 26, wherein the lower surface of the tail wing 27 is welded and fixed with the auxiliary engine 28; the tail wing 27 is of a hollow structure, and the inside of the tail wing is communicated with the transmission case 3; a plurality of driving chain wheels 29 are welded on the peripheral side surface of the transmission shaft 14, driven chain wheels 30 are connected with the inner surface rotation shaft of the tail wing 27, and the driving chain wheels 29 are respectively linked with the two driven chain wheels 30 through a chain installation structure; the inner surface rotating shaft of the auxiliary engine 28 is connected with an auxiliary engine paddle 31, and the rotating shaft of the auxiliary engine paddle 31 is linked with the driven sprocket 30 through a chain transmission structure of a mounting sprocket; it should be added that the sprocket chain transmission structure formed between the driving sprocket 29 and the driven sprocket 30 is a transmission combination mechanism, namely, a plurality of driving sprockets 29 with different specifications are welded on the same rotation axis surface, and the meshed driving sprockets 29 with different specifications are adjusted by utilizing an adjusting component in the transmission combination mechanism in the working process; in actual flight, if the unmanned aerial vehicle body needs to turn, the auxiliary steering effect of the unmanned aerial vehicle body is realized by adjusting the rotating speeds of the auxiliary engine paddles 31 on the outer side and the inner side of the steering.
Preferably, the rear side of the tail boom 26 is hinged with a tail rotor 32, wherein an adjusting hinge rod 33 is arranged between the tail boom 26 and the tail rotor 32; the inner surface of the adjusting chamber 5 is fixedly welded with a transmission box 34, and the lower end of the adjusting hinge rod 33 extends to the inside of the transmission box 34; the lower end of the adjusting hinge rod 33 is welded with a driven worm wheel 37; the inner surface of the transmission box 34 is slidably clamped with a transmission frame 35, the inner surface of the transmission frame 35 is rotatably connected with two groups of transmission worms 36, the spiral grooves formed in the surfaces of the two groups of transmission worms 36 are opposite in direction, and the two groups of transmission worms 36 are respectively arranged on two opposite sides of a driven worm wheel 37; an adjusting gear 38 is welded at one end of the transmission shaft 14, and the adjusting gear 38 extends to the inside of the transmission box 34 along with the transmission shaft 14; a limit chute 39 is formed on one side surface of the transmission frame 35 and is in sliding clamping with the transmission shaft 14 through the limit chute 39; one end of the transmission worm 36 is welded with a transmission gear 40, the transmission gear 40 is arranged outside the transmission frame 35, wherein the two transmission gears 40 are respectively arranged on two opposite sides of the adjusting gear 38 and are matched with the adjusting gear 38; driven blocks 41 are welded and fixed on the opposite side surfaces of the transmission frame 35, a plurality of starting blocks 42 are welded on the inner surface of the transmission box 34, and the starting blocks 42 are respectively arranged on the opposite sides of the transmission frame 35; the starting block 42 is an electromagnet, the driven block 41 is a permanent magnet, and the driven block 41 is magnetically repelled when the starting block 42 is electrified; a plurality of return springs 43 are welded between the driven block 41 and the inner surface of the transmission box 34, and the return springs 43 are arranged between the starting block 42 and the driven block 41; the starting block 42 and the driven block 41 are electrically connected with a power supply of the machine body through a double-pole switch;
in cooperation with the above structure, in the steering operation of actual flight, the double-blade switch deflects to one side after receiving a signal, so that the corresponding starting block 42 is electrified and magnetized, the transmission frame 35 is pushed to slide oppositely by using magnetic repulsive force, the transmission gear 40 on one side is meshed with the adjusting gear 38, and meanwhile, the transmission worm 36 on the other side is meshed with the adjusting hinge rod 33, so that the engine shaft 10 can be used for driving the tail rotor 32 to deflect in the flight process, and the double-blade switch is turned off after the tail rotor is deflected to a corresponding angle; the spiral grooves of the two driving worms 36 are formed in opposite directions, so that the tail rotor 32 can deflect in different directions.
Preferably, the data acquisition module comprises a pitot tube 46 and an aerial photographing device 44, the aerial photographing device 44 is arranged at the connection part of the cabin body 1 and the main engine 2, the pitot tube 46 is welded and fixed on the outside of the cabin body 1, and the pitot tube 46 and the aerial photographing device 44 are electrically connected with the flight controller.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (8)
1. The utility model provides a large-scale fixed wing freight transportation unmanned aerial vehicle flight control system, includes organism, flight controller, data acquisition module and flight control system, its characterized in that: the machine body comprises a cabin body (1), a main engine (2), a main wing frame (18), a tail wing frame (26) and a landing gear (45), wherein one end of the cabin body (1) is welded and fixed with the main engine (2), and the other end of the cabin body is welded and fixed with the tail wing frame (26); the two groups of main wing frames (18) are respectively arranged on two opposite sides of the cabin body (1), and the landing gear (45) is welded and fixed on the lower surface of the cabin body (1); the flight controller is a total control device of the machine body and is arranged in the cabin body (1), the data acquisition module is arranged at the connection part of the cabin body (1) and the main engine (2), and the data acquisition module is electrically connected with the flight controller; the flight adjusting system is arranged in the cabin body (1) and is electrically connected with the flight controller;
the inner surface of the cabin body (1) is fixedly welded with a transmission box (3), the inside of the cabin body (1) is provided with a main driving chamber (4), an adjusting chamber (5), a cargo hold (6) and a supply chamber (7) through the transmission box (3), an engine (8) is fixedly bolted to the inner surface of the main driving chamber (4), one end of an output shaft of the engine (8) is welded with a driving gear (9), and the other end of the output shaft of the engine extends to the inside of the transmission box (3); the inner surface of the main engine (2) is connected with an engine shaft (10), one end of the engine shaft (10) is fixedly welded with a driven gear (11), and the driven gear (11) extends to the inside of the main driving chamber (4) along with the engine shaft (10) and is meshed with the driving gear (9); the inner surface of the transmission box (3) is connected with a driven shaft (12), a linkage shaft (13) and a transmission shaft (14), wherein the opposite ends of the driven shaft (12) are respectively in transmission fit with the output shaft of the engine (8) and the linkage shaft (13) through a gear meshing structure; a universal joint coupler (15) is arranged between one end of the linkage shaft (13) and the transmission shaft (14); a supply tank (16) is slidably engaged with the inner surface of the supply chamber (7), and aviation fuel is filled in the supply tank (16); the inner surface of the supply chamber (7) is also connected with a plurality of adjusting worms (17) in a rotating shaft way, and the adjusting worms (17) extend to the inside of the supply box (16) and form a screw rod structure with the adjusting worms.
2. A large fixed wing freight unmanned aerial vehicle flight control system according to claim 1, wherein an aileron (19) is arranged below the main wing frame (18), two groups of adjusting cylinders (20) are hinged between the main wing frame (18) and the aileron (19), and the mounting positions of the two groups of adjusting cylinders (20) are spaced; the adjusting cylinder (20) comprises an output end and an input end, wherein the output end extends to the inside of the main wing frame (18), an adjusting pipe (21) is fixedly welded on the surface of the output end, an adjusting plug rod (22) is slidably clamped between the two adjusting pipes (21), and a piston structure is formed between the adjusting plug rod (22) and the adjusting pipes (21);
a flap (47) is hinged to the rear side of the main wing frame (18), and a driving disc (23) is welded to the peripheral side surface of the hinge shaft; the middle section rotation shaft of the adjusting plug rod (22) is connected with a driven frame (24), and a linkage rod (25) is eccentrically hinged between one end of the driven frame (24) and the driving disc (23).
3. The flight control system of a large fixed wing cargo unmanned aerial vehicle according to claim 2, wherein the tail wing (27) is welded and fixed to opposite sides of the tail wing frame (26), and wherein a secondary engine (28) is welded and fixed to a lower surface of the tail wing (27); the tail wing (27) is of a hollow structure, and the interior of the tail wing is communicated with the transmission case (3); a plurality of driving chain wheels (29) are welded on the peripheral side surface of the transmission shaft (14), driven chain wheels (30) are connected with the inner surface rotation shaft of the tail wing (27), and the driving chain wheels (29) are respectively linked with the two driven chain wheels (30) through a chain installation structure;
the inner surface of the auxiliary engine (28) is connected with an auxiliary engine paddle (31) in a rotating shaft way, and the rotating shaft of the auxiliary engine paddle (31) is linked with the driven sprocket (30) through a sprocket chain transmission structure.
4. A large fixed wing cargo unmanned aerial vehicle flight control system according to claim 3, wherein the rear side of the tail boom (26) is hinged with a tail rotor (32), wherein an adjusting hinge rod (33) is arranged between the tail boom (26) and the tail rotor (32); the inner surface of the adjusting chamber (5) is fixedly welded with a transmission box (34), and the lower end of the adjusting hinge rod (33) extends to the inside of the transmission box (34);
the lower end of the adjusting hinge rod (33) is welded with a driven worm wheel (37); the inner surface of the transmission box (34) is slidably clamped with a transmission frame (35), the inner surface rotating shaft of the transmission frame (35) is connected with two groups of transmission worms (36), the spiral grooves formed in the surfaces of the two groups of transmission worms (36) are opposite in direction, and the two groups of transmission worms (36) are respectively arranged on two opposite sides of the driven worm wheel (37); an adjusting gear (38) is welded at one end of the transmission shaft (14), and the adjusting gear (38) extends to the inside of the transmission box (34) along with the transmission shaft (14); a limit chute (39) is formed in one side surface of the transmission frame (35), and the limit chute (39) is in sliding clamping with the transmission shaft (14); one end of the transmission worm (36) is welded with a transmission gear (40), the transmission gear (40) is arranged outside the transmission frame (35), and the two transmission gears (40) are respectively arranged on two opposite sides of the adjusting gear (38) and are matched with the adjusting gear (38).
5. The flight control system of a large fixed wing freight unmanned aerial vehicle according to claim 4, wherein driven blocks (41) are welded and fixed on two opposite sides of the transmission frame (35), a plurality of starting blocks (42) are welded on the inner surface of the transmission box (34), and the starting blocks (42) are respectively arranged on two opposite sides of the transmission frame (35); the starting block (42) is an electromagnet, the driven block (41) is a permanent magnet, and the starting block (42) is magnetically repelled with the driven block (41) when the starting block (42) is electrified; a plurality of return springs (43) are welded between the driven block (41) and the inner surface of the transmission box (34), and the return springs (43) are arranged between the starting block (42) and the driven block (41).
6. The flight control system of a large fixed wing cargo unmanned aerial vehicle according to claim 5, wherein the starting block (42) and the driven block (41) are electrically connected with a power supply of the aircraft body through a double-pole switch.
7. The flight control system of the large fixed wing freight unmanned aerial vehicle according to claim 6, wherein a counterweight motor is arranged in the supply chamber (7), one end of an output shaft of the counterweight motor is fixedly connected with the adjusting worm (17) through a coupler, and the two adjusting worm (17) are linked through an additional mechanical transmission mechanism; an adjusting motor is arranged in the main wing frame (18), wherein an output shaft of the adjusting motor is fixedly connected with a hinge shaft of the flap (47); the flight adjusting system comprises a counterweight motor, an adjusting motor and a starting block (42), and the counterweight motor, the adjusting motor and the starting block (42) are electrically connected with the flight controller.
8. The large fixed wing freight unmanned aerial vehicle flight control system according to claim 7, wherein the data acquisition module comprises a airspeed tube (46) and an aerial photographing device (44), the aerial photographing device (44) is arranged at the connection part of the cabin body (1) and the main engine (2), the airspeed tube (46) is welded and fixed on the outside of the cabin body (1), and the airspeed tube (46) and the aerial photographing device (44) are electrically connected with the flight controller.
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| CN202311338873.9A CN117075527B (en) | 2023-10-17 | 2023-10-17 | Flight control system of large fixed wing freight unmanned aerial vehicle |
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| CN202311338873.9A CN117075527B (en) | 2023-10-17 | 2023-10-17 | Flight control system of large fixed wing freight unmanned aerial vehicle |
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| CN117075527B (en) | 2023-12-26 |
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