CN204895858U - Aerial variant stationary vane four -axis unmanned aerial vehicle of VTOL - Google Patents
Aerial variant stationary vane four -axis unmanned aerial vehicle of VTOL Download PDFInfo
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- CN204895858U CN204895858U CN201520290713.6U CN201520290713U CN204895858U CN 204895858 U CN204895858 U CN 204895858U CN 201520290713 U CN201520290713 U CN 201520290713U CN 204895858 U CN204895858 U CN 204895858U
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Abstract
The utility model discloses an aerial variant stationary vane four -axis unmanned aerial vehicle of VTOL, it is flank and two back flanks before fuselage both sides are equipped with two, and the tail end is equipped with the fin, flank and two rear side wing tip portions have all installed the vector actuating arm before two, and the vector actuating arm is inside has installed the screw motor, and the tip then is equipped with the screw, install the vector motor of adjustment vector actuating arm angle in the fuselage, what be equipped with battery pack and control vector motor and screw motor operating condition in the fuselage flies to control the module. The utility model discloses having compromise four -axis structure and the unmanned aerial vehicle's of stationary vane structure advantage, but having had the VTOL, the mechanical stability is good, and the flexibility ratio is high, strong adaptability, the flying speed is fast, the power utilization rate is high, the windage is little, but make full use of air current helping hand, greatly reduced unmanned aerial vehicle's advantages such as energy consumption.
Description
Technical field
The utility model relates to a kind of aircraft, particularly relates to
be integrated with a brand-new unmanned plane during flying device of the advantage of four axle unmanned planes and fixed-wing unmanned plane.
Background technology
Along with the development of aeronautical technology, unmanned air vehicle technique is increasingly mature, civilian unmanned plane usually used as toy, model plane, simultaneously also for take photo by plane and goods delivers the fields such as transport, have broad application prospects, wherein fixed-wing unmanned plane and four axle unmanned planes are the two kinds of structures comparatively commonly used.It is simple that four rotor wing unmanned aerial vehicles have structure, good mechanical stability, flexibility ratio is high, with low cost, can the advantage such as vertical takeoff and landing, and then its structure is widely adopted, mostly left and right and diagonal angle be all symmetrically for four current axle unmanned planes, though have higher alerting ability, but be unfavorable for incorporating aerodynamic design, its running resistance is large, the buoyancy that can not reasonably produce by wind-force and thrust, therefore have that power waste is large, energy consumption is high, flight efficiency is low, flying speed is slow and the deficiency such as course continuation mileage is short.Fixed-wing unmanned plane has the wing of stretching, extension, its fuselage mostly adopts airflow design, can incorporate perfect aerodynamic design, and middle air resistance of advancing is little, and can fully by wind-force, substantially increase flight efficiency and the flying speed of unmanned plane, energy consumption is relatively low, continues a journey longer, but its stability of equilibrium is poor, be difficult to maintain low-speed operations and hovering, especially cannot vertical takeoff and landing, to take off and the requirement of landing place ground environment high.Based on the above-mentioned defect that both exist, constrain the expansion of unmanned plane field of application.
Utility model content
The purpose of this utility model is to provide a kind of good stability with four axle unmanned planes, and flexibility ratio is high, can the advantage such as vertical takeoff and landing; And adopt aerodynamic optimization design by the profile taking into account fixed-wing unmanned plane, the vertical takeoff and landing aerial variant fixed-wing four axle unmanned plane of the advantages such as flight efficiency is high, energy consumption is low, and course continuation mileage is long.
For realizing above-mentioned technical purpose, the utility model adopts following technical scheme:
A kind of vertical takeoff and landing aerial variant fixed-wing four axle unmanned plane, comprise one in fleetline fuselage, fuselage both sides are provided with for the wing and two posterior area of fixigena on front side of two of water conservancy diversion and sling, and tail end is provided with the empennage of the stability of advancing for water conservancy diversion and raising raised up, and said structure is symmetrical; On front side of in the of described two, the wing and two posterior area of fixigena ends are all installed on a rotatable vector actuating arm, and vector actuating arm installed inside has screw propeller motor, and end is then provided with screw propeller, are installed on the vector motor of adjustment vector actuating arm angle in fuselage; The rotation axis parallel of four described vector actuating arms, and the rotation axis of symmetrical vector actuating arm is overlapping, the rotation axis of described screw propeller is vertical with the rotation axis of the vector actuating arm at its place; Be provided with battery component in described fuselage and control vector motor and screw propeller operation status of motor fly control module.
The utility model has following beneficial effect: it adopts trapezoidal four rotor-hub configuration, and has the characteristic of four axle unmanned planes, can vertical takeoff and landing, and good mechanical stability, flexibility ratio are high, strong adaptability; And its profile have employed the form of fixed-wing, have fleetline fuselage and fixed-wing, more meet aerodynamic design, flying speed is fast, and power utilization rate is high, and windage is little, can make full use of air-flow power-assisted, greatly reduces the energy consumption of unmanned plane.The utility model has taken into account the advantage of the unmanned plane of four axle construction and fixed-wing structure, and after the design of science, under the control flying control module, two kinds of patterns can freely be changed as required or be combined, greatly improve the performance of this unmanned plane, in the stage such as when four axle patterns can be used for landing, low-speed operations, hovering and meet with complicated air-flow, fixed-wing pattern then can be used for midway in-flight, in order to obtain larger flying speed, reduce the energy consumption of unmanned plane, extend course continuation mileage.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is principle schematic when taking off, land and hover.
Principle schematic when Fig. 3 is low-speed operations.
Fig. 4 is the schematic diagram that original place level turns to.
Fig. 5 is for running into schematic diagram when crosswind head twists.
Schematic diagram when Fig. 6 is for running into the run-off the straight of crosswind fuselage.
Fig. 7 is fixed-wing mode state schematic diagram.
Fig. 8 is
increase constitution diagram when climbing in steady offline mode.
fig. 9 increases constitution diagram when declining in steady offline mode.
figure 10 is constitution diagram when increasing Right deviation in steady offline mode.
figure 11 is constitution diagram when increasing left-leaning in steady offline mode
In figure, 1, screw propeller, 2, fuselage, 3, posterior area of fixigena, 4, empennage, 5, vector actuating arm, 6, the front side wing, 7, screw propeller motor, 8, fly to control module, 9, battery component, 10, vector motor.
Detailed description of the invention
As shown in Fig. 1,7, a kind of vertical takeoff and landing aerial variant fixed-wing four axle unmanned plane disclosed in the utility model, it comprises one in fleetline fuselage 2, fuselage 2 both sides are provided with for water conservancy diversion and to the wing 6 and two posterior area of fixigena 3 on front side of two of its sling, tail end is provided with the empennage 4 of the stability of advancing for water conservancy diversion and raising raised up, and said structure is symmetrical; On front side of in the of described two, the wing 6 and two posterior area of fixigena 3 ends are all installed on a rotatable vector actuating arm 5, and vector actuating arm 5 installed inside has screw propeller motor 7, and end is then provided with screw propeller 1, are installed on the vector motor 10 of adjustment vector actuating arm 5 angle in fuselage 2; The rotation axis parallel of four described vector actuating arms 5, and the rotation axis of symmetrical vector actuating arm 5 is overlapping, the rotation axis of described screw propeller 1 is vertical with the rotation axis of the vector actuating arm 5 at its place; Be provided with battery component 9 in described fuselage 2 and control vector motor 10 and screw propeller motor 7 mode of operation fly control module 8.
After the utility model adopts above-mentioned design, it has taken into account four axle unmanned planes and the dual of fixed-wing unmanned plane has superiority, can vertical takeoff and landing, and good stability, flexibility ratio are high, strong adaptability; Owing to having fleetline fuselage and fixed-wing, more meet aerodynamic design, flying speed is fast, and power utilization rate is high, and windage is little, can make full use of air-flow power-assisted, greatly reduces the energy consumption of unmanned plane.Due to the scientific design of its structure, under the control flying control module 8, two kinds of patterns can freely be changed as required, greatly improve the performance of this unmanned plane, four axle patterns can be used for the stages such as landing, low-speed operations, hovering, and during hovering, fly control module 8 and control vector actuating arm 5 and screw propeller motor 7, make head all the time windward, still can produce lift by exogenous wind; Fixed-wing pattern then can be used for midway in-flight, in order to obtain larger flying speed, reduces the energy consumption of unmanned plane, extends course continuation mileage.
When taking off, land and hover, as shown in Figure 2, fly control module 8 to control vector motor 10 and operate, vector actuating arm 5 is in and fuselage 2 plumbness, namely unmanned plane is in four axle patterns, fly to control the rotating speed of module 8 by control four screw propellers 1, and reach the object of steadily taking off, land and hovering.
During low-speed operations, as shown in Figure 3, flying under the control of control module 8, flying under the control of control module 8, there is forward the inclination of certain angle in four vector actuating arms 5, fuselage 2 obtains a thrust of advancing when still keeping horizontality, and realizes low-speed operations.
When original place level turns to, as shown in Figure 4, to turn left, flying under the control of control module 8, two the vector actuating arms 5 be positioned on the right side of fuselage 2 deflect forward, and two vector actuating arm 5 reversing senses being positioned at left side carry out equal angular deflection, under the tractive force effect that fuselage 2 provides at both sides vector actuating arm 5 and pivot stud, in the process, fly to control the state that module 8 monitors fuselage in real time, the rotating speed of four vector actuating arms 5 and 4 screw propeller motors 7 is adjusted, under making fuselage 2 still can be in horizontality all the time.
When meeting with crosswind in-flight, as shown in Figure 5, when effect of Side Wind causes fuselage 2 head to twist, flying under the control of control module 8, the vector actuating arm 5 being positioned at fuselage 2 both sides produces differential by the deflection of different directions, the application force reversed by head can maintain fuselage 2 smooth flight after offsetting; As described in Figure 6, as side wind action causes fuselage 2 run-off the straight, then fly the change controlling module 8 perception fuselage 2, screw propeller 1 rotating speed of fuselage 2 both sides is regulated, inclination fuselage 2 maintains, and initiatively undertaken differential by the vector actuating arm 5 of both sides, impel fuselage 2 to turn to, make the direction that head comes in face of wind, as shown in Figure 3, let in air wing time lift is upwards produced to wing, utilize aerodynamics, to raise the efficiency.
When under four axle patterns, the vector actuating arm 5 being positioned at fuselage 2 both sides is flying progressively to lean forward under the control controlling module 8, fly control perception attitudes vibration and control screw propeller 1 rotating speed, fuselage 2 is made to be in horizontality, now the horizontal velocity of aircraft can increase, when airspeed sensor detection exceedes stalling speed, vector actuating arm 5 transforms to the state that to maintain an equal level with fuselage 2 gradually, as shown in Figure 7, fly in this process to control the rotating speed that module 8 controls four screw propellers 1, can maintain the stable of fuselage, variant is fixed-wing mode flight thus, can obtain higher flying speed.
In fixed-wing mode flight, carry out head level when turning to, controlled by the rotating speed of the two groups of screw propellers 1 making fuselage 2 both sides, the differential of fuselage 2 can be utilized to complete level and turn to.
In fixed-wing flight course, changeable two kinds of offline mode, one increases steady offline mode, and another kind is 3D offline mode.
In the steady offline mode of increasing, vector actuating arm 5 invariant position of both sides, fuselage 2 rear end, namely it remains parallel with fuselage 2, and only the vector actuating arm 5 of both sides, fuselage 2 front end carries out vector adjustment.As illustrated in figs. 8-11, the actions such as rising, decline, "Left"-deviationist and Right deviation, all forward side vector actuating arm 5 has regulated, and regulates in real time the vector motor 10 of the vector actuating arm of front side, and fuselage attitude keeps level constant.
In 3D pattern, flying under the cooperation control controlling module 8, the vector actuating arm 5 of front and back carries out vector action all simultaneously, and flight maneuver increases, and can complete various 3D action.
Claims (1)
1. a vertical takeoff and landing aerial variant fixed-wing four axle unmanned plane, it is characterized in that: it comprises one in fleetline fuselage, fuselage both sides are provided with for the wing and two posterior area of fixigena on front side of two of water conservancy diversion and sling, tail end is provided with the empennage of the stability of advancing for water conservancy diversion and raising raised up, and said structure is symmetrical; On front side of in the of described two, the wing and two posterior area of fixigena ends are all installed on a rotatable vector actuating arm, and vector actuating arm installed inside has screw propeller motor, and end is then provided with screw propeller, are installed on the vector motor of adjustment vector actuating arm angle in fuselage; The rotation axis parallel of four described vector actuating arms, and the rotation axis of symmetrical vector actuating arm is overlapping, the rotation axis of described screw propeller is vertical with the rotation axis of the vector actuating arm at its place; Be provided with battery component in described fuselage and control vector motor and screw propeller operation status of motor fly control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520290713.6U CN204895858U (en) | 2015-05-07 | 2015-05-07 | Aerial variant stationary vane four -axis unmanned aerial vehicle of VTOL |
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|---|---|---|---|
| CN201520290713.6U CN204895858U (en) | 2015-05-07 | 2015-05-07 | Aerial variant stationary vane four -axis unmanned aerial vehicle of VTOL |
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| CN204895858U true CN204895858U (en) | 2015-12-23 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105667781A (en) * | 2016-04-06 | 2016-06-15 | 南京航空航天大学 | Aircraft capable of changing layout between rotor wing and fixed wing |
| CN105752345A (en) * | 2016-03-18 | 2016-07-13 | 西安交通大学 | Large load long duration multifunctional aircraft for operation |
| CN106428550A (en) * | 2016-11-04 | 2017-02-22 | 山东萌萌哒航空科技有限公司 | Tilting type unmanned plane and flight control method thereof |
| CN106672223A (en) * | 2016-05-24 | 2017-05-17 | 周光翔 | Hybrid tilt rotor aircraft with four coaxial contra-rotating propellers |
| 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 |
| CN107539483A (en) * | 2016-06-27 | 2018-01-05 | 江苏冰城氢能科技有限公司 | Fixed-wing unmanned plane and its method of work |
| CN107618661A (en) * | 2017-08-09 | 2018-01-23 | 南京航空航天大学 | Short distance vertically taking off and landing flyer based on venturi offset fluidic vectoring nozzle |
| CN109071003A (en) * | 2017-12-22 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Unmanned plane and unmanned aerial vehicle (UAV) control method |
| CN109476366A (en) * | 2016-05-18 | 2019-03-15 | 空中客车A^3有限责任公司 | VTOL aircraft with tiltwing configuration |
| CN112537444A (en) * | 2020-12-15 | 2021-03-23 | 彩虹无人机科技有限公司 | Hovering automatic wind alignment method for composite wing unmanned aerial vehicle |
| WO2022067401A1 (en) * | 2020-09-29 | 2022-04-07 | Alberto Carlos Pereira Filho | Vertical-take-off aerial vehicle with aerofoil-shaped integrated fuselage and wings |
| WO2023212788A1 (en) * | 2022-05-04 | 2023-11-09 | Carlos Pereira Filho Alberto | Wing tip thruster rotation system |
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2015
- 2015-05-07 CN CN201520290713.6U patent/CN204895858U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752345A (en) * | 2016-03-18 | 2016-07-13 | 西安交通大学 | Large load long duration multifunctional aircraft for operation |
| CN105667781A (en) * | 2016-04-06 | 2016-06-15 | 南京航空航天大学 | Aircraft capable of changing layout between rotor wing and fixed wing |
| CN109476366A (en) * | 2016-05-18 | 2019-03-15 | 空中客车A^3有限责任公司 | VTOL aircraft with tiltwing configuration |
| CN106672223A (en) * | 2016-05-24 | 2017-05-17 | 周光翔 | Hybrid tilt rotor aircraft with four coaxial contra-rotating propellers |
| CN107539483A (en) * | 2016-06-27 | 2018-01-05 | 江苏冰城氢能科技有限公司 | Fixed-wing unmanned plane and its method of work |
| CN107539483B (en) * | 2016-06-27 | 2024-03-12 | 江苏冰城氢能科技有限公司 | Fixed wing unmanned aerial vehicle and working method thereof |
| CN106428550A (en) * | 2016-11-04 | 2017-02-22 | 山东萌萌哒航空科技有限公司 | Tilting type unmanned plane and flight control method thereof |
| 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 |
| 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 |
| CN107618661B (en) * | 2017-08-09 | 2021-03-02 | 南京航空航天大学 | Short-distance vertical take-off and landing aircraft based on throat offset type pneumatic vectoring nozzle |
| CN107618661A (en) * | 2017-08-09 | 2018-01-23 | 南京航空航天大学 | Short distance vertically taking off and landing flyer based on venturi offset fluidic vectoring nozzle |
| CN109071003A (en) * | 2017-12-22 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Unmanned plane and unmanned aerial vehicle (UAV) control method |
| WO2019119409A1 (en) * | 2017-12-22 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and control method for unmanned aerial vehicle |
| WO2022067401A1 (en) * | 2020-09-29 | 2022-04-07 | Alberto Carlos Pereira Filho | Vertical-take-off aerial vehicle with aerofoil-shaped integrated fuselage and wings |
| GB2614832A (en) * | 2020-09-29 | 2023-07-19 | Carlos Pereira Atibaia Filho Alberto | Vertical-take-off aerial vehicle with aerofoil-shaped integrated fuselage and wings |
| EP4223636A4 (en) * | 2020-09-29 | 2024-05-15 | Alberto Carlos Pereira Filho | Vertical-take-off aerial vehicle with aerofoil-shaped integrated fuselage and wings |
| CN112537444A (en) * | 2020-12-15 | 2021-03-23 | 彩虹无人机科技有限公司 | Hovering automatic wind alignment method for composite wing unmanned aerial vehicle |
| WO2023212788A1 (en) * | 2022-05-04 | 2023-11-09 | Carlos Pereira Filho Alberto | Wing tip thruster rotation system |
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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: 20151223 Termination date: 20180507 |