CN202011472U - Tilting duct unmanned aerial vehicle - Google Patents

Tilting duct unmanned aerial vehicle Download PDF

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Publication number
CN202011472U
CN202011472U CN2011200485447U CN201120048544U CN202011472U CN 202011472 U CN202011472 U CN 202011472U CN 2011200485447 U CN2011200485447 U CN 2011200485447U CN 201120048544 U CN201120048544 U CN 201120048544U CN 202011472 U CN202011472 U CN 202011472U
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CN
China
Prior art keywords
duct
fuselage
attitude
central
transmission device
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Expired - Fee Related
Application number
CN2011200485447U
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Chinese (zh)
Inventor
章勇
王云
耿立威
戴良忠
王漳军
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Nanchang Hangkong University
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Nanchang Hangkong University
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Priority to CN2011200485447U priority Critical patent/CN202011472U/en
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Abstract

Provided is a tilting duct unmanned aerial vehicle. A central duct is arranged inside a cavity in the middle of a fuselage and connected with the fuselage through a tilting shaft, and a duct tilting mechanism is arranged at a position of the fuselage connected with the tilting shaft. Wings are symmetrically arranged on two sides of the fuselage, and a gesture controlling duct is respectively arranged on a nose and wing tips of the wings. An outward inclined twin vertical fin is arranged on the side rear of the fuselage, a rudder is installed on the rear side of the outward inclined twin vertical fin, a front three-point wheel landing gear is arranged under the fuselage, and the central duct, the duct tilting mechanism, the gesture controlling ducts and the rudder are respectively connected with a flight control system. The tilting duct unmanned aerial vehicle has the advantages of 1 adopting layout blending tailless structure and a big triangle wing body, thereby having good aerodynamic performance, 2 having unique tilting central duct design, 3 having unique three-duct gesture control design, and 4 adopting duct rotor design, namely, all blades are placed inside the ducts, thereby effectively improving flight safety in complicated environment.

Description

The duct unmanned plane verts
Technical field
The utility model relates to a kind of unmanned plane, relates in particular to a kind of duct unmanned plane that verts.
Background technology
As everyone knows, unmanned plane has all obtained widespread use and develop rapidly because of its distinct technical characterstic in the military and civilian field in recent years, especially have demand widely in fields such as military surveillance, anti-terrorism, public security, fire-fighting, forest inspection, nuclear leakage detection and the disaster relief, it is representing an important development direction of following aerocraft.Successively emerged the SUAV (small unmanned aerial vehicle) of many uniquenesses till now from nineteen fifties.Particularly recent two decades comes, and the unmanned plane of various new ideas emerges in an endless stream especially.
In various unmanned plane schemes, the flight characteristics that the duct unmanned plane has vertical takeoff and landing and hovers all has salient feature on volume, disguise and airworthiness, has become the focus in current microminiature unmanned plane research and development field.
The duct unmanned plane is meant with the main source of duct rotor as flying power, and with duct rotor itself as the unmanned plane main body, have the unmanned vehicle of vertical takeoff and landing and hovering flight ability.Compare with traditional unmanned plane, the duct unmanned plane has following characteristics:
1) maneuvering performance shows unique characteristics, and is suitable for executing the task under complex environments such as city and mountain region.Compare with the fixed-wing unmanned plane, the duct unmanned plane can be in narrow and small zone vertical takeoff and landing, and the supervision of can hovering in the fixed target sky, even can drop on the high-rise state of ground is carried out permanent observation.
2) compact conformation, the propulsion coefficient height.Compare with depopulated helicopter, under equal power consumption condition, the duct rotor with the isolated screw propeller of diameter, can produce bigger pulling force; And duct unmanned plane structure is compact more, and flight resistance is little during preceding flying, and flight attitude more approaches fixed wing aircraft, and therefore, flying speed depopulated helicopter more at the same level is high and be easy to control.
3) adopt the duct rotor structure, safe.Compare with depopulated helicopter, the rotor of duct unmanned plane is arranged in the duct, this has just been avoided because of blade is exposed to fuselage outside, and the blade of high speed revolution is met other objects and the aircraft accident that produces, has also eliminated the fatal threat of the blade of high speed revolution to operating personal.
4) noise is low, good concealment.Because rotor is positioned at duct, the propagation of its aerodynamics noise has been subjected to stopping of duct wall, and this has reduced the intensity and the propagation distance of unmanned plane noise to a certain extent; Same because driving engine is expanded by the duct ring, and duct is to the thermal radiation property that also can reduce complete machine that stops of engine radiation, thereby makes the duct unmanned plane have better disguise.
In addition, the duct unmanned plane can also be designed to different size as required, to use different occasions, meets the different needs.
But blemish in an otherwise perfect thing is, common duct unmanned plane during flying speed is slow and control is comparatively complicated, if can incorporate vert duct technology and duct attitude control technology on its basis, it can either and be hovered as the depopulated helicopter vertical takeoff and landing, fly before again can be quick as the fixed-wing unmanned plane, have the advantage of depopulated helicopter and fixed-wing unmanned plane concurrently, and flicon is simple and reliable, then its application prospect will be more wide.
Summary of the invention
The purpose of this utility model is to provide a kind of duct unmanned plane that verts, on the basis of existing duct unmanned plane technology, incorporate vert duct technology and three duct attitude control technologies, with solve existing duct unmanned plane during flying speed slow, control comparatively problem such as complexity, this unmanned plane has overcome also that traditional unmanned helicopter flight control coupling is serious, rotor blade exposes and causes poor stability and a series of problems such as noise is big, cost height, with the development that promotes the carrier-borne unmanned plane of China and unmanned plane in the city, the application of complex environments such as mountain area and forest.
The utility model is achieved like this, it comprises fuselage, wing, central authorities' duct, the duct inclining rotary mechanism, attitude is controlled duct, the flare twin vertical fin, yaw rudder, first three some wheel undercarriage and flight control system, it is characterized in that being furnished with central duct in the inner chamber of fuselage central authorities, central authorities' duct links to each other with fuselage by tiliting axis, be furnished with the duct inclining rotary mechanism with tiliting axis bonded assembly fuselage position, the fuselage bilateral symmetry is furnished with wing, head and wing wing tip position are furnished with attitude respectively and control duct, the fuselage proceeds posterolateral is furnished with the flare twin vertical fin, flare twin vertical fin rear side is furnished with yaw rudder, the fuselage arranged beneath has first three some wheel undercarriage, central duct, the duct inclining rotary mechanism, attitude is controlled duct and is connected flight control system respectively with yaw rudder.
Described central duct comprises active force transmission device bracing frame, active force transmission device, main rotor and pitch-changing mechanism thereof, be connected with active force transmission device bracing frame in central authorities' duct, the central authorities of active force transmission device bracing frame are fixed with the active force transmission device, coaxial respectively main rotor and the pitch-changing mechanism thereof of being connected with of the upper and lower end of active force transmission device, the active force transmission device connects main power source or main oil tank and controller.
Described attitude is controlled duct and is comprised secondary Power train bracing frame, secondary Power train, secondary rotor and pitch-changing mechanism thereof, attitude is controlled and is connected with secondary Power train bracing frame in the duct, the central authorities of secondary Power train bracing frame are fixed with secondary Power train, secondary Power train upper end is connected with secondary rotor and pitch-changing mechanism thereof, and secondary Power train connects independent current source and controller respectively.
Described central duct is an initial position with the position of its axis and fuselage axis normal, and central duct is-90 °~90 ° at the tilt angle of initial position.
Described attitude is controlled duct three, is arranged in the tip location of head and two wings, and each attitude is controlled duct and all is provided with the rotary wing changing spacing mechanism.
Technique effect of the present utility model is: 1, adopt anury, big delta wing body to merge layout, have good aeroperformance; 2, the unique central duct design of verting, make this unmanned plane both possessed vertical short take-off and landing (STOL) and hover performance, can realize again high the flight that flies and fall back backward before the low speed, have the advantage of depopulated helicopter and fixed-wing unmanned plane concurrently; This unmanned plane also has good aerial deceleration performance simultaneously, can transfer low-speed condition or floating state rapidly to from the high-speed flight state; 3, Du Te three duct attitude controlling Design, the power face of each duct and control surface are independent fully, have overcome the serious problem of traditional unmanned helicopter flight control coupling, have effectively ensured the reliability and stability of flight control system; 4, adopt the duct rotor design, promptly all blade all is built in the duct, has effectively improved the complex environment safety of flight down.
Description of drawings
Fig. 1 is a structural representation of the present invention.
In the drawings, 1, fuselage 2, wing 3, central duct 4, duct inclining rotary mechanism 5, attitude are controlled duct 6, flare twin vertical fin 7, yaw rudder 8, first three some wheel undercarriage 9, flight control system 10, active force transmission device bracing frame 11, active force transmission device 12, main rotor and pitch-changing mechanism 13, secondary Power train bracing frame 14, secondary Power train 15, secondary rotor and pitch-changing mechanism thereof.
The specific embodiment
As shown in Figure 1, the present invention is achieved like this, be furnished with central duct 3 in the inner chamber of fuselage 1 central authorities, central authorities' duct 3 links to each other with fuselage 1 by tiliting axis, be furnished with duct inclining rotary mechanism 4 with tiliting axis bonded assembly fuselage position, fuselage 1 bilateral symmetry is furnished with wing 2, head and wing 2 wing tip positions are furnished with attitude respectively and control duct 5, fuselage 1 proceeds posterolateral is furnished with flare twin vertical fin 6, flare twin vertical fin 6 rear sides are furnished with yaw rudder 7, fuselage 1 arranged beneath has first three some wheel undercarriage 8, central duct 3, duct inclining rotary mechanism 4, attitude is controlled duct 5 and is connected flight control system 9 with yaw rudder 7; Described central duct 3 comprises active force transmission device bracing frame 10, active force transmission device 11, main rotor and pitch-changing mechanism 12 thereof, it is characterized in that being connected with in the central duct 3 active force transmission device bracing frame 10, the central authorities of active force transmission device bracing frame 10 are fixed with active force transmission device 11, coaxial respectively main rotor and the pitch-changing mechanism 12 thereof of being connected with of the upper and lower end of active force transmission device 11, active force transmission device 11 connects main power source (or main oil tank) and controller; Described attitude is controlled duct 5 and is comprised secondary Power train bracing frame 13, secondary Power train 14, secondary rotor and pitch-changing mechanism 15 thereof, it is characterized in that attitude is controlled is connected with secondary Power train bracing frame 13 in the duct 5, the central authorities of secondary Power train bracing frame 13 are fixed with secondary Power train 14, secondary Power train 14 upper ends are connected with secondary rotor and pitch-changing mechanism 15 thereof, and secondary Power train 14 connects independent current source and controller respectively.
The control principle of the duct unmanned plane that verts among the present invention is as follows:
1, changes three attitudes and control the pulling force size that duct produces by regulating pitch that three attitudes control secondary rotor in the duct and rotating speed, form the longitudinal attitude that vertical control torque is controlled this unmanned plane.
2, when this unmanned plane is in vertical takeoff and landing and floating state,, produce the course attitude that deflecting torque is controlled this unmanned plane by regulating the rotating speed of upper and lower main rotor; When flying state before this unmanned plane is in, the direction of passage rudder is controlled the course attitude of this unmanned plane.
3, control the pitch of secondary rotor in the duct by two attitudes in reverse adjusting wing wing tip position and rotating speed makes two attitudes control the oppositely directed pulling force that duct produces, thereby control the horizontal roll attitude of this unmanned plane.
Being described below of five kinds of exemplary operation states of the VUAV among the present invention:
1, vertical takeoff and landing: two main rotor constant speed counter-rotatings in the central duct, produce the weight of pulling force balance aircraft straight up, control the pitch and the rotating speed of secondary rotor in the duct by controlling three attitudes simultaneously, produce needed vertical trim moment of aircraft and lift-over trim moment.This moment, aircraft was the helicopter flight pattern.
2, hovering: the weight that the lift that pitch by controlling two main rotors in the central duct and rotating speed make its generation can just the balance aircraft, thereby make aircraft be in floating state, control the pitch and the rotating speed of secondary rotor in the duct by controlling three attitudes simultaneously, produce needed vertical trim moment of aircraft and lift-over trim moment, guarantee the stability of hang state; By pitch and the rotating speed of regulating upper and lower main rotor, produce deflecting torque, make the rotation of aircraft original place, realize course control.This moment, aircraft was the helicopter flight pattern.
3, fly before the low speed: make central duct be tilted to certain angle forward gradually by controlling the duct inclining rotary mechanism, control the pitch of two main rotors and rotating speed simultaneously and make the part weight that it can the balance aircraft, can produce certain thrust again and promote the aircraft low-speed operations with the propulsion coefficient of the best, control the pitch and the rotating speed of secondary rotor in the duct by controlling three attitudes, produce needed vertical trim moment of aircraft and lift-over trim moment, guarantee the stability of flight, this moment, aircraft was in by the offline mode of helicopter mode to the fixed wing aircraft mode transition.
4, fly before the high speed: this moment, aircraft reached certain speed, the lift that wing produces can the balance aircraft weight, make central duct be tilted to 90 ° forward gradually by controlling the duct inclining rotary mechanism, pitch and the rotating speed of controlling two main rotors simultaneously make its propulsion coefficient with the best promote the aircraft high-speed flight, control the pitch and the rotating speed of secondary rotor in the duct by controlling three attitudes, produce needed vertical trim moment of aircraft and lift-over trim moment, guarantee the stability of flight.This moment, aircraft was finished by the transition of helicopter mode to the fixed wing aircraft pattern, was the fixed wing aircraft offline mode.
5, the aerial deceleration or the flight that falls back backward: make central duct be tilted to certain angle backward gradually by controlling the duct inclining rotary mechanism, control the pitch of two main rotors and rotating speed simultaneously and make the part weight that it can the balance aircraft, can produce certain reaction thrust again and reduce the flying speed of aircraft or promote the aircraft flight that falls back backward with the propulsion coefficient of the best, control the pitch and the rotating speed of secondary rotor in the duct by controlling three attitudes, produce needed vertical trim moment of aircraft and lift-over trim moment, guarantee the stability of flight, this moment, aircraft was in by the offline mode of fixed wing aircraft pattern to the helicopter mode transition.

Claims (5)

1. duct unmanned plane that verts, it comprises fuselage, wing, central authorities' duct, the duct inclining rotary mechanism, attitude is controlled duct, the flare twin vertical fin, yaw rudder, first three some wheel undercarriage and flight control system, it is characterized in that being furnished with central duct in the inner chamber of fuselage central authorities, central authorities' duct links to each other with fuselage by tiliting axis, be furnished with the duct inclining rotary mechanism with tiliting axis bonded assembly fuselage position, the fuselage bilateral symmetry is furnished with wing, head and wing wing tip position are furnished with attitude respectively and control duct, the fuselage proceeds posterolateral is furnished with the flare twin vertical fin, flare twin vertical fin rear side is furnished with yaw rudder, the fuselage arranged beneath has first three some wheel undercarriage, central duct, the duct inclining rotary mechanism, attitude is controlled duct and is connected flight control system respectively with yaw rudder.
2. the duct unmanned plane that verts according to claim 1, it is characterized in that described central duct comprises active force transmission device bracing frame, active force transmission device, main rotor and pitch-changing mechanism thereof, be connected with active force transmission device bracing frame in central authorities' duct, the central authorities of active force transmission device bracing frame are fixed with the active force transmission device, coaxial respectively main rotor and the pitch-changing mechanism thereof of being connected with of the upper and lower end of active force transmission device, the active force transmission device connects main power source or main oil tank and controller.
3. the duct unmanned plane that verts according to claim 1, it is characterized in that described attitude controls duct and comprise secondary Power train bracing frame, secondary Power train, secondary rotor and pitch-changing mechanism thereof, attitude is controlled and is connected with secondary Power train bracing frame in the duct, the central authorities of secondary Power train bracing frame are fixed with secondary Power train, secondary Power train upper end is connected with secondary rotor and pitch-changing mechanism thereof, and secondary Power train connects independent current source and controller respectively.
4. the duct unmanned plane that verts according to claim 1 and 2 is characterized in that described central duct is an initial position with the position of its axis and fuselage axis normal, and central duct is-90 °~90 ° at the tilt angle of initial position.
5. according to claim 1 or the 3 described duct unmanned planes that vert, it is characterized in that described attitude controls duct and have three, be arranged in the tip location of head and two wings, each attitude is controlled duct and all is provided with the rotary wing changing spacing mechanism.
CN2011200485447U 2011-02-28 2011-02-28 Tilting duct unmanned aerial vehicle Expired - Fee Related CN202011472U (en)

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Application Number Priority Date Filing Date Title
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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102120489A (en) * 2011-02-28 2011-07-13 南昌航空大学 Tilt ducted unmanned aerial vehicle
CN103171766A (en) * 2011-12-20 2013-06-26 北京航空航天大学 Short distance rising and landing unmanned all-wing aircraft
CN103231805A (en) * 2013-05-21 2013-08-07 吉林大学 Duct type folding wing machine
CN103318406A (en) * 2013-06-27 2013-09-25 长源动力(北京)科技有限公司 Composite rotor craft
CN104260873A (en) * 2014-10-22 2015-01-07 临沂高新区翔鸿电子科技有限公司 Delta wing aircraft
CN104260875A (en) * 2014-09-19 2015-01-07 苏州天益航空科技有限公司 Collision-resistant structure of agricultural plant protection unmanned aerial vehicle
CN104290904A (en) * 2014-10-11 2015-01-21 江苏艾锐泰克无人飞行器科技有限公司 Multi-rotor type aircraft
CN105015770A (en) * 2015-07-29 2015-11-04 张飞 Vertical take-off and landing aircraft with wing body blended with single duct
CN107010205A (en) * 2017-03-30 2017-08-04 庆安集团有限公司 A kind of aircraft and its control method with the empennage that can vert
CN107856858A (en) * 2017-11-09 2018-03-30 陈英蔚 A kind of unmanned plane for being used to search and rescue based on ultrasonic listening
WO2019062256A1 (en) * 2017-09-29 2019-04-04 清华大学 Single lift force ducted vertical take-off and landing aircraft based on tilt duct
WO2019080442A1 (en) * 2017-10-26 2019-05-02 深圳光启合众科技有限公司 Rotorcraft

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102120489A (en) * 2011-02-28 2011-07-13 南昌航空大学 Tilt ducted unmanned aerial vehicle
CN103171766A (en) * 2011-12-20 2013-06-26 北京航空航天大学 Short distance rising and landing unmanned all-wing aircraft
CN103231805A (en) * 2013-05-21 2013-08-07 吉林大学 Duct type folding wing machine
CN103231805B (en) * 2013-05-21 2015-09-16 吉林大学 Culvert type flap machine
CN103318406A (en) * 2013-06-27 2013-09-25 长源动力(北京)科技有限公司 Composite rotor craft
CN104260875A (en) * 2014-09-19 2015-01-07 苏州天益航空科技有限公司 Collision-resistant structure of agricultural plant protection unmanned aerial vehicle
CN104290904A (en) * 2014-10-11 2015-01-21 江苏艾锐泰克无人飞行器科技有限公司 Multi-rotor type aircraft
CN104260873A (en) * 2014-10-22 2015-01-07 临沂高新区翔鸿电子科技有限公司 Delta wing aircraft
CN104260873B (en) * 2014-10-22 2016-08-03 临沂高新区翔鸿电子科技有限公司 A kind of delta-wing aircraft
CN105015770A (en) * 2015-07-29 2015-11-04 张飞 Vertical take-off and landing aircraft with wing body blended with single duct
CN107010205A (en) * 2017-03-30 2017-08-04 庆安集团有限公司 A kind of aircraft and its control method with the empennage that can vert
WO2019062256A1 (en) * 2017-09-29 2019-04-04 清华大学 Single lift force ducted vertical take-off and landing aircraft based on tilt duct
WO2019080442A1 (en) * 2017-10-26 2019-05-02 深圳光启合众科技有限公司 Rotorcraft
CN107856858A (en) * 2017-11-09 2018-03-30 陈英蔚 A kind of unmanned plane for being used to search and rescue based on ultrasonic listening
CN107856858B (en) * 2017-11-09 2021-07-27 西安宇立航空科技有限公司 Unmanned aerial vehicle for search and rescue based on ultrasonic detection

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Granted publication date: 20111019

Termination date: 20120228