CN204750564U - Three rotor VTOL unmanned aerial vehicle on Y type - Google Patents
Three rotor VTOL unmanned aerial vehicle on Y type Download PDFInfo
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- CN204750564U CN204750564U CN201520286594.7U CN201520286594U CN204750564U CN 204750564 U CN204750564 U CN 204750564U CN 201520286594 U CN201520286594 U CN 201520286594U CN 204750564 U CN204750564 U CN 204750564U
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Abstract
The utility model relates to a three rotor VTOL unmanned aerial vehicle on Y type, including the fuselage, locate the fuselage both sides the wing, connect the fin mechanism of wing and locate the abdominal undercarriage of fuselage through the tail pipe, still include two can by the vertical direction to rotatable rotor rotatory around the flight direction with according to the fixed duct of locating the afterbody of vertical direction, two rotatable rotors are located on the wing through spin control mechanism symmetry. Compared with the prior art, the utility model discloses have the ability of the quick flight of VTOL and stationary vane aircraft simultaneously, the energy consumption is low, the nature controlled is good, and engine efficiency is high.
Description
Technical field
The utility model relates to a kind of unmanned plane, especially relates to a kind of Y type three rotor VUAV.
Background technology
Because VUAV has the ability of vertical takeoff and landing and fast reserve, therefore military surveillance can be widely used in, geographical mapping, the condition of a disaster and weather monitoring, the aspects such as Aerial photography, are particularly suitable for comprising ship deck landing at complex environment, need again the field of long-time cruising flight.At present, the type of countries in the world vertical takeoff and landing engine installation has several as follows: (1) lift engine, (2) turn spout (thrust deflexion) driving engine, (3) ascending fan system, (4) propeller rotor system, (5) can stall or collected type rotor system.Lift engine requires high to thrust-weight ratio, and engine life is short; Ascending fan system needs the larger lift fan that takes up room; Proprotor system and collected type rotor system mechanism complexity.Above-mentioned power system is applied to unmanned plane and there is certain difficulty, and unmanned vehicle engine thrust-weight ratio is lower, available limited space, cannot carry complexity, heavy mechanism.
Many rotor systems that the engine installation being applied to VUAV is at present mainly four rotors and is derived by four rotors.This system can realize the function such as vertical takeoff and landing, hovering, is usually used in taking photo by plane.Because four rotor system power directions can not be converted to horizontal direction and lack wing, this system can only carry out the flight of low speed horizontal direction, and flight range is also restricted.
V-22 formula osprey transport plane has the ability of vertical takeoff and landing, and under the same conditions, its voyage, much larger than helicopter, has that consumption of fuel is few, speed is fast, the advantages such as load-carrying is large.But because its screw propeller has larger twist angle, although for which providing larger pulling force, also reduce the efficiency of driving engine; Because two driving engines must meet the requirement of vertical takeoff and landing, therefore power is very large, but when transferring flat flying to, the pulling force of needs is very little, and driving engine is in the mode of operation of highly energy-consuming; Meanwhile, the structure of its uniqueness causes is taking off and landing phases is in a big way in turbulent flow, and therefore, higher accident rate and lower reliability are the major issues that it faces.
Chinese patent CN202170018U discloses a kind of fire-fighting monitoring vertical takeoff and landing SUAV (small unmanned aerial vehicle), comprises fuselage, wing, foot rest, fire suppression module and image capture module five major part, described wing and the foot rest below it are respectively four, and symmetry is plugged on the fuselage left and right sides respectively; Described fire suppression module and image capture module are positioned at underbelly; Described fuselage is by control module circuit storehouse, and GPS receiver module storehouse and one-body molded group of battery compartment connect and form; Described wing is can swing angle wing; Described foot rest comprises rise and fall foot rest and a shake foot rest Shock absorber; Described fire suppression module comprises fire extinguishing steel cylinder, mechanical arm embraces folder, mechanical arm oil cylinder, fire extinguisher pressure handle and pressure handle to pressure device; Described image capture module comprises picture pick-up device and wireless data transmission device.This patent needs four motors, and electric current output speed is large, makes the weight and volume of unmanned plane body strengthen simultaneously, and under the prerequisite of same electricity, flying power reduces a lot.
Utility model content
The purpose of this utility model be exactly in order to overcome above-mentioned prior art exist defect and a kind of Y type three rotor VUAV is provided, there is the ability of vertical takeoff and landing and fixed wing aircraft rapid flight simultaneously, energy consumption is low, can be handling good, engine efficiency is high.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of Y type three rotor VUAV is comprised fuselage, is located at the wing of fuselage both sides, connected the empennage mechanism of wing and be located at the alighting gear of belly by tail pipe, also comprise two rotatable rotors that can be rotated before and after heading by vertical direction and the duct being fixed at afterbody by vertical direction, described two rotatable rotors are symmetrically set on wing by rotation control mechanism.
The angular range rotated before and after described rotatable rotor is 0 ~ 95 degree.
Described two rotatable rotors and duct are single driving machine and drive.
Described rotation control mechanism comprises link span, steering wheel, rocking arm and pull bar, and described link span one end connects wing, and described steering wheel is located at the link span other end, and connecting rocker arm, described rocking arm cylinder lever connecting rod, described pull bar connects rotatable rotor.
Described wing is provided with winglet.
Compared with prior art, the utility model has the following advantages:
One, power system efficiency is high: vert compared with four rotor wing unmanned aerial vehicles with tradition, because the utility model adopts three rotor power structures, the service efficiency of each driving machine (driving engine) is all significantly promoted, avoids the four rotor wing unmanned aerial vehicles shortcoming that power system efficiency significantly reduces when horizontal flight of verting.
Two, good reliability: the Y type rotor structure of employing can simplify the complexity of vertical takeoff and landing fixed-wing unmanned aerial vehicle control system, uses classical control program can reach good control effects.Can make like this unmanned plane take off and transient process in safety higher.
Three, quality and energy consumption little: compared to the four rotor fixed-wing unmanned planes that vert, owing to decreasing a driving engine, not only can alleviate sole mass, can also energy efficient.
Four: multiple functional, be widely used: the utility model can not have the place vertical and landing takeoff of runway, there is the ability of fast reserve, can accelerate at short notice to put down from floating state and fly state, possess the large load of fixed wing aircraft, low energy consumption, the ability of cruising fast, can slow down until unmanned plane reaches floating state in flight course, thus can complete and scout over the ground and the appointed task such as mapping.
Accompanying drawing explanation
Fig. 1 is schematic side view of the present utility model;
Fig. 2 is schematic top plan view of the present utility model;
Fig. 3 controls schematic diagram under the utility model vertical takeoff and landing pattern;
Wherein, (3a) be the pitch control subsystem schematic diagram under vertical takeoff and landing pattern, (3b) be the roll unloads schematic diagram under vertical takeoff and landing pattern, (3c) for the driftage under vertical takeoff and landing pattern controls schematic diagram, (3d) is the Altitude control schematic diagram under vertical takeoff and landing pattern;
Fig. 4 controls schematic diagram under the utility model transition mode;
Fig. 5 controls schematic diagram under the utility model fixed-wing pattern.
In figure: 1, rotatable rotor, 2, rotation control mechanism, 3, wing, 4, fuselage, 5, tail pipe, 6, vertical fin, 7, duct, 8, rear alighting gear, 9, nose-gear, 10, horizontal tail.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.The present embodiment is implemented premised on technical solutions of the utility model, give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
As shown in Figure 1 and Figure 2, a kind of Y type three rotor VUAV comprises fuselage 4, a pair wing, 3, two tail pipes 5, empennage mechanism, alighting gear, two rotatable rotors 1, duct 7, two rotation control mechanisms 2 and internal control circuits etc., wherein, empennage mechanism comprises two vertical fins 6 and a horizontal tail 10, each rotation control mechanism 2 is rocking arm Tiebar structure, include link span, steering wheel, rocking arm and pull bar, wing 3 is provided with winglet, rotatable rotor 1 is propeller arrangement, and alighting gear comprises nose-gear 9 and rear alighting gear 8.Concrete annexation is:
Two wings 3 are located at fuselage 4 both sides, two vertical fins 6 connect a pair wing 3 respectively by tail pipe 5 correspondence, horizontal tail 10 is located between vertical fin 6, namely horizontal tail 10 end connects a vertical fin 6 respectively, it is anterior that nose-gear 9 is located at fuselage 4 belly, fuselage 4 belly rear portion is located at by rear alighting gear 8, link span one end correspondence connects wing 3, and the link span of the same side and tail pipe 5 are on same straight line, steering wheel is located at the link span other end, and connecting rocker arm, rocking arm cylinder lever connecting rod, pull bar connects a rotatable rotor 1, two rotatable rotors 1 are symmetrical, two steering wheels control the tilt angle of rotatable rotor 1 separately respectively, namely the angle rotated before and after heading by vertical direction, the duct 7 being positioned at unmanned plane afterbody can be ignored due to its torque reaction, therefore the position of duct 7 and setting angle are maintained static.The angular range, theta rotated before and after rotatable rotor 1 is 0 ~ 95 degree.And two rotatable rotors 1 and duct 7 are the driving of single driving machine, such as single motor or single fuel engines drive.Two rotatable rotors 1 form Y type layout with duct 7.
Working process:
1) vertical takeoff and landing pattern
Under vertical takeoff and landing pattern, the speed of unmanned plane is little, and the efficiency of various control rudder face is extremely low, can be ignored.Now, the control of UAV Attitude places one's entire reliance upon the change of differential and rotatable rotor 1 tilt angle of rotatable rotor 1 and duct 7 rotating speed.Specifically as shown in Figure 3.Specific implementation process is as follows:
Pitch control subsystem: under vertical takeoff and landing pattern, by regulating the pulling force of the rotatable rotor in front 1 and rear duct 7 poor, can realize the change of luffing angle.As in figure (3a), reduce rotatable rotor 1 rotating speed in front two simultaneously or increase afterbody duct 7 rotating speed, unmanned plane can be made to produce nose-down pitching moment.
Roll unloads: under vertical takeoff and landing pattern, by regulating the pulling force of the rotatable rotor 1 in unmanned plane front two poor, can realize the control to roll angle.As shown in figure (3b), increase rotatable rotor 1 rotating speed in left side, reduce rotatable rotor 1 rotating speed in right side, unmanned plane can be made to rotate counterclockwise around fuselage 4 axis.
Driftage controls: under vertical takeoff and landing pattern, by regulating the tilt angle of the rotatable rotor 1 in front two, the control to yaw angle can be realized, as shown in figure (3c), rotatable for right side rotor 1 is tilted forward certain angle, the rotatable rotor 1 in left side verts same angle backward, and unmanned plane can be made to rotate counterclockwise around the axle perpendicular to wing 3 plane.
Altitude control: under vertical takeoff and landing pattern, two rotatable rotors 1 and duct 7 change speed simultaneously, make highly to change.As shown in figure (3d), rotatable rotor 1 and duct 7 accelerate simultaneously, and unmanned plane height increases.
2) transition mode
In the transition mode, operation is relatively complicated, and the combined action of pneumatic rudder face and rotor thrust, makes to there is stronger coupled relation between each passage for unmanned plane.In order to make unmanned plane smooth transition, take transition scheme as shown in Figure 4:
Pitch control subsystem: the rotatable rotor 1 in front and back and duct 7 rotational speed differences+elevating rudder;
Roll unloads: the rotatable rotor 1 rotational speed difference+aileron in left and right;
Driftage controls: left and right rotatable rotor 1 tilt angle is differential+and yaw rudder.
3) fixed-wing pattern
Along with the increase of unmanned plane horizontal velocity, the control authority differential by rotatable rotor 1 reduces gradually, and relies on the control authority of control surface deflection to increase gradually, until when rotatable rotor 1 is tilted to level attitude, unmanned plane is controlled, as Fig. 5 by each rudder face completely.
To sum up, the utility model unmanned plane has the ability of vertical takeoff and landing and fixed wing aircraft rapid flight simultaneously; Adopt new Y type layout placement driving engine, under the prerequisite ensureing enough lift, saved energy consumption, simplified the structure and control method, have excellent can be handling, improve the efficiency of driving engine.
Claims (5)
1. a Y type three rotor VUAV, comprise fuselage, be located at the wing of fuselage both sides, connected the empennage mechanism of wing by tail pipe and be located at the alighting gear of belly, it is characterized in that, also comprise two rotatable rotors that can be rotated before and after heading by vertical direction and the duct being fixed at afterbody by vertical direction, described two rotatable rotors are symmetrically set on wing by rotation control mechanism.
2. a kind of Y type three rotor VUAV according to claim 1, it is characterized in that, the angular range rotated before and after described rotatable rotor is 0 ~ 95 degree.
3. a kind of Y type three rotor VUAV according to claim 1, is characterized in that, described two rotatable rotors and duct are single driving machine and drive.
4. a kind of Y type three rotor VUAV according to claim 1, it is characterized in that, described rotation control mechanism comprises link span, steering wheel, rocking arm and pull bar, described link span one end connects wing, described steering wheel is located at the link span other end, and connecting rocker arm, described rocking arm cylinder lever connecting rod, described pull bar connects rotatable rotor.
5. a kind of Y type three rotor VUAV according to claim 1, it is characterized in that, described wing is provided with winglet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520286594.7U CN204750564U (en) | 2015-05-06 | 2015-05-06 | Three rotor VTOL unmanned aerial vehicle on Y type |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520286594.7U CN204750564U (en) | 2015-05-06 | 2015-05-06 | Three rotor VTOL unmanned aerial vehicle on Y type |
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| CN204750564U true CN204750564U (en) | 2015-11-11 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105711832A (en) * | 2016-04-19 | 2016-06-29 | 北京航空航天大学 | Tilting three-rotor wing long-endurance composite aircraft |
| CN105857605A (en) * | 2016-04-11 | 2016-08-17 | 河北科技大学 | Single sitting type fixed-wing unmanned aerial vehicle taking off and landing vertically |
| CN106005401A (en) * | 2016-08-08 | 2016-10-12 | 北京奇正数元科技股份有限公司 | Unmanned aerial vehicle tail tilting pair power mechanism |
| CN106428527A (en) * | 2016-11-30 | 2017-02-22 | 深圳市优鹰科技有限公司 | Dual-axis vector servo turning device with propeller and vertical take-off and landing unmanned aerial vehicle with fixed wings |
| CN106628201A (en) * | 2016-12-09 | 2017-05-10 | 北京奇正数元科技股份有限公司 | Unmanned plane capable of adapting different taking-off and landing modes and different mission loads by replacing multiple power combinations |
| CN106986019A (en) * | 2017-04-17 | 2017-07-28 | 四川建筑职业技术学院 | A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination |
| CN107933909A (en) * | 2017-12-17 | 2018-04-20 | 北京天宇新超航空科技有限公司 | A kind of high-speed and high-efficiency tilting wing unmanned vehicle |
| CN108572655A (en) * | 2018-04-25 | 2018-09-25 | 重庆市亿飞智联科技有限公司 | flight control method and related device |
| CN108594840A (en) * | 2018-05-29 | 2018-09-28 | 中山星图航空航天技术有限公司 | It verts control device and its control method |
| CN109407692A (en) * | 2017-08-17 | 2019-03-01 | 西安羚控电子科技有限公司 | Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode |
| CN111148693A (en) * | 2017-09-28 | 2020-05-12 | 洪承一 | Vertical take-off and landing aircraft |
| CN113955113A (en) * | 2021-11-23 | 2022-01-21 | 福州大学 | Miniature aircraft suitable for high-speed operation and control method |
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2015
- 2015-05-06 CN CN201520286594.7U patent/CN204750564U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857605A (en) * | 2016-04-11 | 2016-08-17 | 河北科技大学 | Single sitting type fixed-wing unmanned aerial vehicle taking off and landing vertically |
| CN105711832A (en) * | 2016-04-19 | 2016-06-29 | 北京航空航天大学 | Tilting three-rotor wing long-endurance composite aircraft |
| CN106005401A (en) * | 2016-08-08 | 2016-10-12 | 北京奇正数元科技股份有限公司 | Unmanned aerial vehicle tail tilting pair power mechanism |
| CN106005401B (en) * | 2016-08-08 | 2018-08-21 | 北京奇正数元科技股份有限公司 | A kind of unmanned plane tail verts secondary dynamic structure |
| CN106428527A (en) * | 2016-11-30 | 2017-02-22 | 深圳市优鹰科技有限公司 | Dual-axis vector servo turning device with propeller and vertical take-off and landing unmanned aerial vehicle with fixed wings |
| CN106628201A (en) * | 2016-12-09 | 2017-05-10 | 北京奇正数元科技股份有限公司 | Unmanned plane capable of adapting different taking-off and landing modes and different mission loads by replacing multiple power combinations |
| CN106628201B (en) * | 2016-12-09 | 2023-08-08 | 北京奇正数元科技股份有限公司 | Unmanned aerial vehicle with multiple power combinations, capable of being replaced and adapted to different take-off and landing modes and different task loads |
| CN106986019B (en) * | 2017-04-17 | 2023-05-30 | 四川建筑职业技术学院 | Motor cabinet capable of changing inclination angle of rotary wing surface of multi-rotor unmanned aerial vehicle |
| CN106986019A (en) * | 2017-04-17 | 2017-07-28 | 四川建筑职业技术学院 | A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination |
| CN109407692A (en) * | 2017-08-17 | 2019-03-01 | 西安羚控电子科技有限公司 | Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode |
| CN111148693A (en) * | 2017-09-28 | 2020-05-12 | 洪承一 | Vertical take-off and landing aircraft |
| CN107933909A (en) * | 2017-12-17 | 2018-04-20 | 北京天宇新超航空科技有限公司 | A kind of high-speed and high-efficiency tilting wing unmanned vehicle |
| CN108572655A (en) * | 2018-04-25 | 2018-09-25 | 重庆市亿飞智联科技有限公司 | flight control method and related device |
| CN108572655B (en) * | 2018-04-25 | 2022-05-13 | 重庆市亿飞智联科技有限公司 | Flight control method and related device |
| CN108594840A (en) * | 2018-05-29 | 2018-09-28 | 中山星图航空航天技术有限公司 | It verts control device and its control method |
| CN113955113B (en) * | 2021-11-23 | 2022-12-13 | 福州大学 | Miniature aircraft suitable for high-speed operation and control method |
| CN113955113A (en) * | 2021-11-23 | 2022-01-21 | 福州大学 | Miniature aircraft suitable for high-speed operation and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151111 Termination date: 20180506 |