CN205661659U - Electronic multiaxis rotor unmanned aerial vehicle system of verting - Google Patents
Electronic multiaxis rotor unmanned aerial vehicle system of verting Download PDFInfo
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- CN205661659U CN205661659U CN201620416951.1U CN201620416951U CN205661659U CN 205661659 U CN205661659 U CN 205661659U CN 201620416951 U CN201620416951 U CN 201620416951U CN 205661659 U CN205661659 U CN 205661659U
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Abstract
The utility model relates to an electronic multiaxis rotor unmanned aerial vehicle system of verting, include the fixed -wing aircraft organism and play the flight controller that stable control acted on, install a plurality of rotors that vert of locating in the fuselage and make the aircraft have the function of hovering that is similar to the helicopter. The utility model discloses have VTOL and high -speed flight ability of cruising, can realize freely switching of between helicopter mode and a fixed -wing aircraft mode, have outstanding control stability, reliability and safety in utilization, can be applied to on a large scale the investigation of hovering of multiple spot in the region better, at multiple environment such as continental rise, on -boards to and can exert very big effect in following military affairs and the civil application.
Description
Technical field
This utility model relates to unmanned plane field, a kind of electronic multiaxis tilting rotor wing unmanned aerial vehicle system.
Background technology
Fixed-wing unmanned plane has the advantages such as voyage length, noise is little, flight speed is fast, but is affected relatively by landing environment
Greatly, and can not aloft hover；Rotor wing unmanned aerial vehicle is capable of the functions such as VTOL, low-altitude low-speed flight, hovering, but
Being to be limited by self structure, loading capacity is little, noise is big, voyage is shorter.Rapid flight ability and the combination of VTOL ability, nothing
Doubt and become currently without the man-machine or even focus of aircraft industry research.
At present, the correlational study in terms of increasing research institution proceeds by tilting rotor wing unmanned aerial vehicle in the world.But
It is that rotor is installed at wing tip by typical double-rotor type tilting rotor wing unmanned aerial vehicle, and the purling of rotor often results in sternly
The aerodynamic interference of weight, increases unmanned plane modeling and the difficulty controlled；And owing to only having two rotors, each rotor needs
Distance changing mechanism to be installed, the frame for movement causing aircraft is extremely complex.
Utility model content
For the deficiencies in the prior art, this utility model provides a kind of and verts with many rotor mechanisms replacement typical case's double-rotor type
Gyroplane complexity displacement rotor structure, and the electronic multiaxis tilting rotor wing unmanned aerial vehicle system that rotor separates with wing, be a kind of holding concurrently
Tool VTOL and high-performance cruise ability, the rotor wing unmanned aerial vehicle system that can switch between helicopter mode and fixed wing airplane pattern
System, has outstanding control stability, reliability and safety in utilization, can be preferably applied for the multiple spot in extensive area
Hovering investigation, the fixed point on a large scale under the multiple environment such as continental rise, boat-carrying also can be played a great role in scouting.
This utility model be the technical scheme is that for achieving the above object
A kind of electronic multiaxis tilting rotor wing unmanned aerial vehicle system, including fixed wing airplane body 1 and flight controller, also wraps
Include install on fuselage can tilting rotor structure, for spot hover and the quickly cruise of UAS.
Described fixed wing airplane body 1 comprises fuselage 3, wing, empennage, undercarriage and drives steering wheel.
Described wing is full-scale wing, comprises wing-body and aileron；
Described empennage includes tailplane and vertical tail, is respectively arranged with elevator on tailplane and vertical tail
Face and rudder surface；
Described undercarriage is first three point type front-wheel operation of landing gear, comprises nose-gear 9 and rear undercarriage 10, for unmanned
Machine system slides landing under fixed wing airplane pattern；
Described driving steering wheel is for driving wing and the rudder face on empennage, and controls turning to of nose-gear.
Described tilting rotor structure can include that rotor and rotor more than two groups vert subsystem 2, are respectively arranged at wing with front
Between undercarriage 9, rear undercarriage 10.
Described many rotors and rotor vert the rotary shaft rack 4 that subsystem 2 includes being fixed on fuselage, and rotor tiliting axis 5 is solid
On rotary shaft rack 4, and with fuselage 3 right angle setting, motor is symmetrically arranged on rotor tiliting axis 5 two ends by motor base 6,
Rotor is installed on motor.
Described many rotors and the rotor subsystem 2 that verts includes that connecting rod rocking arm 8 is fixed on the center of rotor tiliting axis 5,
And keep, with rotor tiliting axis 5, the steering wheel base 7 that synchronous axial system, steering wheel be fixed on fuselage, and drive rotation by connecting rod rocking arm 8
Wing tiliting axis 5 rotates, and is used for changing rotor thrust direction.
The rotational angle range of rotor tiliting axis 5 is 0～90 degree, and wherein rotor tiliting axis 5 occurs 0 degree of expression of verting unmanned
Machine system is in helicopter mode, and rotor thrust is straight up；Rotor tiliting axis 5 occurs at 90 degree of expression UASs that vert
In fixed wing airplane pattern, rotor thrust is horizontal forward.
The length of described rotor tiliting axis 5 is identical.
Described rotary shaft rack 4 arranges bearing.
Described flight controller is arranged in the wing mounting seat 11 below wing, is used for realizing UAS and is going straight up to
Machine pattern and the stability contorting under fixed wing airplane pattern, and in UAS accelerator, according to flight speed not
With controlling rotor tilt angle in real time, it is achieved UAS is by the conversion of helicopter mode to fixed wing airplane pattern.
This utility model has the advantages that and advantage:
1. Fixed Wing AirVehicle structure is combined by this utility model with multi-rotor aerocraft structure, and producing one can
VTOL again can the course of new aircraft of high-performance cruise, the advantage that this aircraft is provided simultaneously with the two；
2. less than rotor craft, (fixed wing airplane can close in this utility model energy resource consumption in complete flight course
Throttle glides), and possess the ability of rotor craft fixed point tasks carrying；
3. this utility model uses the structure of many rotors, and the pulling force difference of available rotor carries out helicopter mould with reaction torque difference
Control under formula, it is to avoid use the displacement rotor structure that traditional double rotary wind type tiltrotor is complicated, simple in construction and be difficult to send out
Raw fault；
4. rotor is separated by this utility model with wing, it is to avoid rotor be installed on cause wing at wing tip the most serious
Aerodynamic interference, the beneficially aircraft safe flight under helicopter mode with transition mode.
Accompanying drawing explanation
Fig. 1 is UAS schematic diagram of the present utility model；
Fig. 2 is structure chart of the present utility model；
Fig. 3 is many rotors of the present utility model and rotor verts subsystem structure figure；
Wherein, 1 be fixed wing airplane body, 2 for many rotors and rotor vert subsystem, 3 be fuselage, 4 be rotary shaft rack,
5 be rotor tiliting axis, 6 for motor base, 7 for steering wheel base, 8 for connecting rod rocking arm, 9 for nose-gear, 10 for rear undercarriage, 11
For wing mounting seat, 12 be empennage mounting seat.
Detailed description of the invention
Below in conjunction with the accompanying drawings and this utility model is described in further detail by embodiment.
It is illustrated in figure 1 UAS schematic diagram of the present utility model.
A kind of electronic multiaxis tilting rotor wing unmanned aerial vehicle system, verts son including fixed wing airplane body 1, many rotors and rotor
System 2, flight controller three part.The function of fixed wing airplane body 1 is the mode transition for UAS and fixed-wing
Airplane-mode provides lift and coordinates to control；Two groups of identical many rotors and the rotor subsystem 2 that verts is placed in fixing respectively
In the fuselage 3 of wing aircraft body 1 before with in after, control propeller towards so that it is rotor thrust direction is possible not only to and rotor
Aircraft as Fixed Wing AirVehicle in either vertically or horizontally, it is also possible to point to optional position therebetween；Flight controller
It is installed on below fixed wing airplane body 1 wing, is used for realizing UAS in helicopter mode and fixed wing airplane pattern
Under stability contorting, and in UAS accelerator, different size of rotor is set according to the difference of flight speed and inclines
Gyration, it is achieved UAS is by the safe transition of helicopter mode to fixed wing airplane pattern.
Fixed wing airplane body 1, based on fixed wing airplane structure, comprises a pair full-scale wing, a horizontal tail
The wing, vertical tail, front and back undercarriage, drive steering wheel；Each wing all comprises wing-body and aileron, and tailplane is with vertical
Lifting rudder face and rudder surface it is respectively mounted on fin；Undercarriage is first three point type front-wheel operation of landing gear, solid in order to realize
Determine to slide landing under wing aircraft pattern；Steering wheel in this subsystem in order to drive the rudder face on wing and empennage, and front
Fall the turning to of frame.
Concrete example is: tilting rotor wing unmanned aerial vehicle system overall dimensions is 1400mm × 1200mm × 500mm；Wing is long
1200mm, wing root portion 170mm width, leading edge of a wing sweepback, wingtip portion 150mm width, for trapezoidal straight aerofoil profile, installing the angle of attack is 2 °；
Vertical tail root 400mm width, taper 150mm width, from fuselage, 240mm is high, and aerofoil profile is that hypotenuse is trapezoidal.
It is illustrated in figure 2 structure chart of the present utility model.
Many rotors and rotor vert subsystem 2 include rotor, motor, motor base 6, rotor tiliting axis 5, connecting rod rocking arm 8,
Rotary shaft rack 4, steering wheel, steering wheel base 7；Its two groups of above-mentioned parts comprised, are respectively arranged in wing front and wing rear.
Fuselage 3 main body is the aluminum alloy drum of diameter 20mm, and middle part and afterbody are provided with machine mounting seat 11 and empennage mounting seat
12 be used for fixing full-scale wing and and empennage, be used for below wing mounting seat 11 flight subsystem and battery are installed.
Assembling first three point type front-wheel steer operation of landing gear on this fuselage, possess independent cushioning effect, nose-gear can be
Heading control during ground taxi is realized under the driving of steering wheel.
As shown in Fig. 3 rotor inclining rotary mechanism structure chart:
Drive steering wheel to drive rotor tiliting axis 5 by connecting rod rocking arm 8, itself be fixed on the steering wheel at rotary shaft rack 4 rear
On base 7；Rotary shaft rack 4 provides for rotor tiliting axis 5 and supports, and for ensureing the motility that rotating shaft rotates, support is provided with axle
Hold；Rotor tiliting axis 5 two ends are fixed with motor base 6, and motor is fixed on motor base 6；Rotor is directly mounted on motor,
Steering wheel affects rotor tiliting axis 5 to realize the change in rotor thrust direction, and angle changing scope is 0～90 degree；Front and back rotor verts
Axle 5 length is identical, and rotor centers surrounds a rectangle.
Concrete example is: a length of 32mm of connecting rod rocking arm 8；Vert rotating shaft 5 of rotor for length 615mm, the cylinder of diameter 12mm；Electricity
Support is diameter 28mm, the disk of thickness 3mm；The most rotors and rotor vert subsystem 2 at a distance of 600mm.
Dynamical system is made up of propeller, electric mechanical, electrical mediation battery.Motor is installed on the base at rotor tiliting axis 5 two ends
On, for bright space X2814 1250KV brushless electric machine；Rotor is directly fixed on motor, and model is the positive and negative oar of APC1055；Take simultaneously
Join 4s 14.8V 5200mah LiPo battery, and special prestige beetle or the skywalker's 4s 80A electron speed regulator that is full of well.
Steering wheel on UAS has three kinds of purposes: 1, handle wing and the control rudder face on empennage；2, rotor is affected
Tiliting axis 5, thus control rotor and vert；3, turning to of nose-gear 9 is controlled.According to aircraft configuration size and take-off weight, respectively
Controlling rudder face and undercarriage course changing control steering wheel uses silver swallow-aeroplane ES08MD 12g digital metal tooth steering wheel, tiliting axis controls steering wheel and adopts
With the waterproof steering wheel of JX PDI-6221MG.
The basic flight course of this UAS is: takes off vertically in helicopter mode, and ramps up with constantly
To fixed wing airplane mode transition；Quickly cruise after entering fixed wing airplane pattern, the tasks carrying point required for arrival,
Switch to helicopter mode and perform task；After task completes, enter fixed-wing pattern and carry out flight of making a return voyage, and at helicopter mode
Lower vertical landing.
Claims (10)
1. an electronic multiaxis tilting rotor wing unmanned aerial vehicle system, including fixed wing airplane body (1) and flight controller, it is special
Levy and be: be additionally included on fuselage install can tilting rotor structure, for spot hover and the quickly cruise of UAS.
Electronic multiaxis tilting rotor wing unmanned aerial vehicle system the most according to claim 1, it is characterised in that: described fixed wing airplane
Body (1) comprises fuselage (3), wing, empennage, undercarriage and drives steering wheel.
Electronic multiaxis tilting rotor wing unmanned aerial vehicle system the most according to claim 2, it is characterised in that: described wing is full chi
Very little wing, comprises wing-body and aileron；
Described empennage includes tailplane and vertical tail, tailplane and vertical tail are respectively arranged with lifting rudder face with
Rudder surface；
Described undercarriage is first three point type front-wheel operation of landing gear, comprises nose-gear (9) and rear undercarriage (10), for unmanned
Machine system slides landing under fixed wing airplane pattern；
Described driving steering wheel is for driving wing and the rudder face on empennage, and controls turning to of nose-gear.
Electronic multiaxis tilting rotor wing unmanned aerial vehicle system the most according to claim 1, it is characterised in that: described can tilting rotor
Structure includes that rotor and rotor more than two groups vert subsystem (2), is respectively arranged at wing and nose-gear (9), rear undercarriage
(10) between.
Electronic multiaxis tilting rotor wing unmanned aerial vehicle system the most according to claim 4, it is characterised in that: described many rotors and rotation
The wing verts the rotary shaft rack (4) that subsystem (2) includes being fixed on fuselage, and rotor tiliting axis (5) is fixed on rotary shaft rack (4)
On, and with fuselage (3) right angle setting, motor is symmetrically arranged on rotor tiliting axis (5) two ends by motor base (6), and rotor is pacified
It is loaded on motor.
Electronic multiaxis tilting rotor wing unmanned aerial vehicle system the most according to claim 4, it is characterised in that: described many rotors and rotation
The wing subsystem (2) that verts includes that connecting rod rocking arm (8) is fixed on the center of rotor tiliting axis (5), and with rotor tiliting axis (5)
Keep synchronous axial system, the steering wheel base (7) that steering wheel is fixed on fuselage, and drive rotor tiliting axis (5) by connecting rod rocking arm (8)
Rotate, be used for changing rotor thrust direction.
7. according to the electronic multiaxis tilting rotor wing unmanned aerial vehicle system described in any one of claim 4～6, it is characterised in that: rotor
The rotational angle range of tiliting axis (5) is 0～90 degree, and wherein rotor tiliting axis (5) occurs 0 degree of expression UAS that verts
Being in helicopter mode, rotor thrust is straight up；Rotor tiliting axis (5) occurs 90 degree of expression UASs that vert to be in solid
Determining wing aircraft pattern, rotor thrust is horizontal forward.
8. according to the electronic multiaxis tilting rotor wing unmanned aerial vehicle system described in any one of claim 4～6, it is characterised in that: described
The length of rotor tiliting axis (5) is identical.
Electronic multiaxis tilting rotor wing unmanned aerial vehicle system the most according to claim 5, it is characterised in that: at described rotary shaft rack
(4) bearing is set on.
Electronic multiaxis tilting rotor wing unmanned aerial vehicle system the most according to claim 1, it is characterised in that: described flight controls
Device is arranged at the wing mounting seat (11) below wing Nei, is used for realizing UAS at helicopter mode and fixed wing airplane
Stability contorting under pattern, and in UAS accelerator, vert according to the different rotors that control in real time of flight speed
Angle, it is achieved UAS is by the conversion of helicopter mode to fixed wing airplane pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620416951.1U CN205661659U (en) | 2016-05-09 | 2016-05-09 | Electronic multiaxis rotor unmanned aerial vehicle system of verting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620416951.1U CN205661659U (en) | 2016-05-09 | 2016-05-09 | Electronic multiaxis rotor unmanned aerial vehicle system of verting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205661659U true CN205661659U (en) | 2016-10-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620416951.1U Active CN205661659U (en) | 2016-05-09 | 2016-05-09 | Electronic multiaxis rotor unmanned aerial vehicle system of verting |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097938A (en) * | 2017-03-20 | 2017-08-29 | 长光卫星技术有限公司 | A kind of inclining rotary mechanism for the quadrotor that verts |
| CN107416200A (en) * | 2017-03-20 | 2017-12-01 | 长光卫星技术有限公司 | A kind of electronic compound rotor aircraft |
| WO2019056172A1 (en) * | 2017-09-19 | 2019-03-28 | 深圳市大疆创新科技有限公司 | Flight control method for unmanned aerial vehicle, unmanned aerial vehicle, and machine readable storage medium |
| CN113075879A (en) * | 2020-01-03 | 2021-07-06 | 中国科学院沈阳自动化研究所 | Engine control system of tilt rotor unmanned aerial vehicle |
| CN114919742A (en) * | 2022-06-28 | 2022-08-19 | 陈华 | Multi-rotor aircraft |
-
2016
- 2016-05-09 CN CN201620416951.1U patent/CN205661659U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097938A (en) * | 2017-03-20 | 2017-08-29 | 长光卫星技术有限公司 | A kind of inclining rotary mechanism for the quadrotor that verts |
| CN107416200A (en) * | 2017-03-20 | 2017-12-01 | 长光卫星技术有限公司 | A kind of electronic compound rotor aircraft |
| CN107416200B (en) * | 2017-03-20 | 2023-03-21 | 长光卫星技术股份有限公司 | Electric composite wing aircraft |
| WO2019056172A1 (en) * | 2017-09-19 | 2019-03-28 | 深圳市大疆创新科技有限公司 | Flight control method for unmanned aerial vehicle, unmanned aerial vehicle, and machine readable storage medium |
| CN113075879A (en) * | 2020-01-03 | 2021-07-06 | 中国科学院沈阳自动化研究所 | Engine control system of tilt rotor unmanned aerial vehicle |
| CN113075879B (en) * | 2020-01-03 | 2022-02-01 | 中国科学院沈阳自动化研究所 | Engine control system of tilt rotor unmanned aerial vehicle |
| CN114919742A (en) * | 2022-06-28 | 2022-08-19 | 陈华 | Multi-rotor aircraft |
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| GR01 | Patent grant |