CN207072429U - One kind vertical lift tilting rotor wing unmanned aerial vehicle - Google Patents
One kind vertical lift tilting rotor wing unmanned aerial vehicle Download PDFInfo
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- CN207072429U CN207072429U CN201721041983.9U CN201721041983U CN207072429U CN 207072429 U CN207072429 U CN 207072429U CN 201721041983 U CN201721041983 U CN 201721041983U CN 207072429 U CN207072429 U CN 207072429U
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- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 239000002002 slurry Substances 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical group [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 2
- 229910052799 carbon Inorganic materials 0.000 claims description 2
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 229920002472 Starch Polymers 0.000 claims 1
- 235000019698 starch Nutrition 0.000 claims 1
- 239000008107 starch Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Abstract
The utility model discloses one kind to be vertically moved up or down tilting rotor wing unmanned aerial vehicle, belongs to unmanned air vehicle technique field, and the vertical lift tilting rotor wing unmanned aerial vehicle includes fuselage, wing, empennage and inclining rotary mechanism；The wing is arranged on the forward position in upper end of fuselage, and vertical with fuselage；The inclining rotary mechanism includes：First to fourth connecting rod, the first and second steering wheels, first to fourth execution unit；First to fourth execution unit includes electron speed regulator, DC brushless motor and propeller, and first to fourth execution unit is separately mounted to the end of first to fourth connecting rod；First and second steering wheel is separately mounted to fuselage interior, and is connected with the first and second universal driving shafts being connected in connecting rod.The utility model is easy to operate, autonomous landing and the characteristics of without take-off venue, substantially reduce the technical requirements to unmanned plane operating personnel, can is familiar with operation in the zero-base plinth short time, breaks through the limitation of unmanned plane manipulator shortage, breaks the bottleneck of unmanned plane industry development.
Description
Technical field
It the utility model is related to unmanned air vehicle technique field, and in particular to one kind vertical lift tilting rotor wing unmanned aerial vehicle.
Background technology
Unmanned plane is the not manned aircraft manipulated using radio robot and presetting apparatus, in the prior art,
Fixed-wing aircraft has site requirements, it is necessary to compared with long runway, departure time length, and VTOL machine is without higher site requirements, still
Endurance is lacked due to no wing.Not yet develop miniaturization, the high and low cost of integrated level both at home and abroad at present, meet again
The innovative SUAV product of miscellaneous landing conditioning tasks requirement.
People are seeking to have the aircraft of more gyroplane and fixed-wing aircraft advantages concurrently always for a long time.I.e. one kind can not
VTOL and the action of flight forward can be completed by relying on place, while have the VTOL tilting rotor of longer endurance
Unmanned plane.
Therefore, a miniaturization to accord with the demands of the market, the high and low cost of integrated level are developed, suitable for complicated landing condition
Mission requirements, meet that the new quick response VTOL of the emergent market demand such as quick response, road vehicles monitoring is verted rotation
Wing unmanned plane product is necessary.
Utility model content
The purpose of this utility model is to provide a kind of vertical lift tilting rotor wing unmanned aerial vehicle, to solve existing unmanned plane
Have place limitation, cruising time is short, it is inconvenient for operation the problem of.
To achieve the above object, the utility model discloses one kind to be vertically moved up or down tilting rotor wing unmanned aerial vehicle, the unmanned plane
Including fuselage, wing, empennage and inclining rotary mechanism；The wing is arranged on the forward position in upper end of fuselage and vertical with fuselage；Institute
State the afterbody that empennage is arranged on fuselage；The inclining rotary mechanism includes：First to fourth connecting rod, first to fourth execution unit and
One to the second steering wheel；First to fourth connecting rod is separately mounted to the both sides of fuselage, and the first and second connecting rods are symmetrically distributed in
The both sides of fuselage head, the first universal driving shaft is installed inside the first and second connecting rods, the third and fourth connecting rod is symmetrically distributed in machine
Fuselage both sides between the wing and empennage, the second universal driving shaft is installed inside the third and fourth connecting rod；Described first to fourth performs
Unit is separately mounted to the end of first to fourth connecting rod；The first to the second steering wheel is separately mounted to fuselage interior and difference
It is connected with the first to the second universal driving shaft.
The utility model discloses one kind to be vertically moved up or down tilting rotor wing unmanned aerial vehicle, and the wing is saving fuselage interior space
High mounted wing, wing area 0.711m2, the back edge of wing is provided with the aileron of adjustment UAV Attitude.
The utility model discloses one kind to be vertically moved up or down tilting rotor wing unmanned aerial vehicle, and first to fourth execution unit includes
First to fourth electron speed regulator, first to fourth DC brushless motor and first to fourth propeller, described the first to the second
DC brushless motor is described by the second linkage axis connection by the first linkage axis connection, the 3rd to the 4th DC brushless motor
First to fourth electron speed regulator is connected with first to fourth DC brushless motor respectively, and first to fourth propeller passes through
Rotating shaft is separately mounted to above first to fourth DC brushless motor.
The utility model discloses one kind to be vertically moved up or down tilting rotor wing unmanned aerial vehicle, and first to fourth propeller is two leaves
Slurry, two leaves slurry rotate around the rotating shaft of DC brushless motor.
The utility model discloses one kind to be vertically moved up or down tilting rotor wing unmanned aerial vehicle, and first to fourth execution unit has
Two kinds of gesture modes of four rotors and fixed-wing, under four rotor gesture modes, first to fourth propeller rotates in the horizontal plane, Gu
Determine under wing gesture mode, first to fourth propeller rotates on the vertical plane.
The utility model discloses one kind to be vertically moved up or down tilting rotor wing unmanned aerial vehicle, and first to fourth connecting rod is carbon pipe.
The utility model discloses one kind to be vertically moved up or down tilting rotor wing unmanned aerial vehicle, and the head of the fuselage is provided with photoelectricity and hung
Cabin.
The utility model discloses one kind to be vertically moved up or down tilting rotor wing unmanned aerial vehicle, first to fourth DC brushless motor
Single motor maximum pull 3.05kg, voltage stabilizing input 24v motor.
The utility model discloses one kind to be vertically moved up or down tilting rotor wing unmanned aerial vehicle, and the empennage is T-shaped empennage, the empennage
With vertical fin and horizontal tail, vertical fin rear end is provided with rudder, and horizontal tail rear end is provided with elevator.
The utility model discloses a kind of control method for being vertically moved up or down tilting rotor wing unmanned aerial vehicle, the control method bag
Include：
First and second steering wheels can control execution unit action according to the control instruction on ground, and the first to the second steering wheel receives
To after instruction of taking off, first the first universal driving shaft of servo driving makes the surfaces of revolution of the first and second propellers adjust to horizontal plane,
Second the second universal driving shaft of servo driving makes the surfaces of revolution of the third and fourth propeller adjust to horizontal plane, first to fourth direct current
Brushless electric machine drives first to fourth propeller to start to rotate respectively, and unmanned plane is taken off with four rotor gesture modes；
First to fourth electron speed regulator controls nobody by adjusting the rotating speed of first to fourth propeller in take-off process
The flight attitude of machine, after unmanned plane successfully goes up to the air, the first to the second steering wheel receives offline mode switching command, the first steering wheel control
Make the first and second execution units to tilt forward, second the third and fourth execution unit of servos control tilts forward, and is verting
Cheng Zhong, because first to fourth propeller produces aerodynamic force forward, unmanned plane will accelerate flight forward, in first to fourth spiral shell
When the surfaces of revolution of rotation oar is turning fully on vertical plane, the speed of unmanned plane makes wing produce the lift more than its own gravity, nothing
It is man-machine with aerodynamic lift cruising flight, adjusted in flight course by the first to the second steering wheel, first to fourth propeller and aileron
Complete machine body posture；
When unmanned plane completes aerial mission preparation landing, after the first to the second steering wheel receives landing instruction, the first steering wheel
Adjust on the surfaces of revolution to the horizontal plane of the first and second propellers, the second steering wheel adjusts the surfaces of revolution of the third and fourth propeller extremely
On horizontal plane, unmanned plane is switched to four rotor gesture modes from fixed-wing gesture mode, slows down simultaneously under four rotor gesture modes
Vertical landing.
The utility model has the following advantages that：
A kind of tilting rotor wing unmanned aerial vehicle that is vertically moved up or down will provide interface needed for various application processes, can turn into
One miniaturization, the general unmanned machine flying platform for manipulating convenient, landing and flexible endurance length of flying.The type VTOL is inclined
Switch rotor unmanned plane can in city or landing condition difference region, designated area and target are carried out prolonged inspection and
Tracking, solves the problems such as to the quick emergency response of accident and road and vehicle monitoring.Easy to operate, autonomous landing simultaneously
The characteristics of with without take-off venue, the technical requirements to unmanned plane operating personnel are greatly reduced, can in the zero-base plinth short time
To be familiar with operation, the bottleneck of the limitation unmanned plane industry development of unmanned plane manipulator shortage is breached.
Brief description of the drawings
A kind of flat and stereo figures for being vertically moved up or down tilting rotor wing unmanned aerial vehicle of Fig. 1.
A kind of overlooking the structure diagrams for being vertically moved up or down tilting rotor wing unmanned aerial vehicle of Fig. 2.
Embodiment
Following examples are used to illustrate the utility model, but are not limited to the scope of the utility model.
Embodiment 1
With reference to figure 1, unmanned plane described in one kind vertical lift tilting rotor wing unmanned aerial vehicle includes fuselage 10, wing 06, empennage 08
And inclining rotary mechanism, wing 06 are arranged on the forward position in upper end of fuselage 10 and vertical with fuselage；The empennage 08 is arranged on fuselage
Afterbody；The inclining rotary mechanism includes：Connecting rod 03, execution unit and steering wheel 05；The connecting rod 03 includes first to fourth connecting rod,
The both sides of fuselage are separately mounted to, the first and second connecting rods are symmetrically distributed in the both sides of fuselage head, the third and fourth connecting rod pair
Claim the fuselage both sides being distributed between wing 06 and empennage 08；The steering wheel 05 has the first to the second steering wheel to be separately mounted to fuselage
It is internal；The execution unit includes first to fourth execution unit, and each execution unit is arranged on the end of first to fourth connecting rod
Portion；Each execution unit includes propeller 01, DC brushless motor 02 and electron speed regulator 11, and the electron speed regulator 11 wraps
Include first to fourth electron speed regulator, the DC brushless motor 02 includes first to fourth DC brushless motor, the spiral
Oar 01 includes first to fourth propeller, first to fourth electron speed regulator respectively with first to fourth DC brushless motor
It is connected, first to fourth propeller is separately mounted to above first to fourth DC brushless motor by rotating shaft.
With reference to figure 2, the execution unit 12 includes first to fourth execution unit, the first to the second brush DC electricity
Machine is arranged on the both ends of the first universal driving shaft 13, is rotated with the rotation of the first universal driving shaft 13, the 3rd to the 4th brush DC electricity
Machine is arranged on the both ends of the second universal driving shaft 14, is rotated with the rotation of the second universal driving shaft 14.First to fourth direct current without
Brush motor controls first to fourth propeller planar to rotate respectively.
The wing 06 is not take up fuselage interior space, more preferably arranges the upper of fuel tank to improve the lateral stability of aircraft
Single-blade.
The DC brushless motor 02 selects KV335,24V voltage, 17 cun of oar motors, single motor maximum pull
3.05kg。
It is 14.06kg/m that the wing of the unmanned plane, which carries,2, by formulaThe area for knowing wing 06 is
0.711m2。
Control method includes：
First and second steering wheels can control execution unit action according to the control instruction on ground, and the first to the second steering wheel receives
To after instruction of taking off, first the first universal driving shaft of servo driving makes the surfaces of revolution of the first and second propellers adjust to horizontal plane,
Second the second universal driving shaft of servo driving makes the surfaces of revolution of the third and fourth propeller adjust to horizontal plane, first to fourth direct current
Brushless electric machine drives first to fourth propeller to start to rotate respectively, and unmanned plane is taken off with four rotor gesture modes；
First to fourth electron speed regulator controls nobody by adjusting the rotating speed of first to fourth propeller in take-off process
The flight attitude of machine, after unmanned plane successfully goes up to the air, the first to the second steering wheel receives offline mode switching command, the first steering wheel control
Make the first and second execution units to tilt forward, second the third and fourth execution unit of servos control tilts forward, and is verting
Cheng Zhong, because first to fourth propeller produces aerodynamic force forward, unmanned plane will accelerate flight forward, in first to fourth spiral shell
When the surfaces of revolution of rotation oar is turning fully on vertical plane, the speed of unmanned plane makes wing produce the lift more than its own gravity, nothing
It is man-machine with aerodynamic lift cruising flight, adjusted in flight course by the first to the second steering wheel, first to fourth propeller and aileron
Complete machine body posture；
When unmanned plane completes aerial mission preparation landing, after the first to the second steering wheel receives landing instruction, the first steering wheel
Adjust on the surfaces of revolution to the horizontal plane of the first and second propellers, the second steering wheel adjusts the surfaces of revolution of the third and fourth propeller extremely
On horizontal plane, unmanned plane is switched to four rotor gesture modes from fixed-wing gesture mode, slows down simultaneously under four rotor gesture modes
Vertical landing.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, the these modifications or improvements on the basis of without departing from the utility model spirit, belonging to the utility model will
Seek the scope of protection.
Claims (9)
1. one kind vertical lift tilting rotor wing unmanned aerial vehicle, it is characterised in that the unmanned plane includes fuselage, wing, empennage and inclined
Rotation mechanism；The wing is arranged on the forward position in upper end of fuselage and vertical with fuselage；The empennage is arranged on the afterbody of fuselage；
The inclining rotary mechanism includes：First to fourth connecting rod, first to fourth execution unit and the first to the second steering wheel；Described first to
Fourth link is separately mounted to the both sides of fuselage, and the first and second connecting rods are symmetrically distributed in the both sides of fuselage head, and first and
First universal driving shaft is installed inside two connecting rods, the third and fourth connecting rod is symmetrically distributed in the fuselage both sides between wing and empennage,
Second universal driving shaft is installed inside the third and fourth connecting rod；First to fourth execution unit is separately mounted to first to fourth
The end of connecting rod；The first to the second steering wheel is separately mounted to fuselage interior and is connected respectively with the first to the second universal driving shaft.
2. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that the wing is saving machine
The high mounted wing of body inner space, wing area 0.711m2, the back edge of wing is provided with the aileron of adjustment UAV Attitude,
Wing flap is installed on the inside of aileron.
3. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that described first to fourth holds
Row unit includes first to fourth electron speed regulator, first to fourth DC brushless motor and first to fourth propeller, described
The first to the second DC brushless motor passes through the second universal driving shaft by the first linkage axis connection, the 3rd to the 4th DC brushless motor
Connection, first to fourth electron speed regulator are connected with first to fourth DC brushless motor respectively, and described first to fourth
Propeller is separately mounted to above first to fourth DC brushless motor by rotating shaft.
A kind of 4. vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that first to fourth spiral shell
Revolve oar to starch for two leaves, two leaves slurry rotates around the rotating shaft of DC brushless motor.
5. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that described first to fourth holds
Row unit has two kinds of gesture modes of four rotors and fixed-wing, and under four rotor gesture modes, first to fourth propeller is in level
Rotated on face, under fixed-wing gesture mode, first to fourth propeller rotates on the vertical plane.
6. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that described first to fourth connects
Bar is carbon pipe.
7. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that the head of the fuselage is set
It is equipped with photoelectric nacelle.
8. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 3, it is characterised in that described first to fourth is straight
Flow brushless electric machine single motor maximum pull 3.05kg, voltage stabilizing input 24v motor.
9. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that the empennage is T-shaped tail
The wing, the empennage have vertical fin and horizontal tail, and vertical fin rear end is provided with rudder, and horizontal tail rear end is provided with elevator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721041983.9U CN207072429U (en) | 2017-08-21 | 2017-08-21 | One kind vertical lift tilting rotor wing unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721041983.9U CN207072429U (en) | 2017-08-21 | 2017-08-21 | One kind vertical lift tilting rotor wing unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN207072429U true CN207072429U (en) | 2018-03-06 |
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| CN201721041983.9U Active CN207072429U (en) | 2017-08-21 | 2017-08-21 | One kind vertical lift tilting rotor wing unmanned aerial vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323653A (en) * | 2017-08-21 | 2017-11-07 | 山东蜂巢航空科技有限公司 | One kind vertical lift tilting rotor wing unmanned aerial vehicle and its control method |
| CN108657426A (en) * | 2018-05-17 | 2018-10-16 | 谭小平 | Light-duty tilt rotor aircraft |
| CN110466297A (en) * | 2018-10-25 | 2019-11-19 | 长城汽车股份有限公司 | A kind of hovercar and hovercar control method |
| CN111942581A (en) * | 2020-07-27 | 2020-11-17 | 西北工业大学 | Distributed lift force duck-type layout vertical take-off and landing unmanned aerial vehicle and control method |
-
2017
- 2017-08-21 CN CN201721041983.9U patent/CN207072429U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323653A (en) * | 2017-08-21 | 2017-11-07 | 山东蜂巢航空科技有限公司 | One kind vertical lift tilting rotor wing unmanned aerial vehicle and its control method |
| CN108657426A (en) * | 2018-05-17 | 2018-10-16 | 谭小平 | Light-duty tilt rotor aircraft |
| CN110466297A (en) * | 2018-10-25 | 2019-11-19 | 长城汽车股份有限公司 | A kind of hovercar and hovercar control method |
| CN111942581A (en) * | 2020-07-27 | 2020-11-17 | 西北工业大学 | Distributed lift force duck-type layout vertical take-off and landing unmanned aerial vehicle and control method |
| CN111942581B (en) * | 2020-07-27 | 2022-12-27 | 西北工业大学 | Distributed lift force duck-type layout vertical take-off and landing unmanned aerial vehicle and control method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room 301-9, North Block, 3rd Floor, Building 1, Yard 1, Automobile Museum East Road, Fengtai District, Beijing, 100160 Patentee after: Beijing Beehive Sky Technology Co.,Ltd. Country or region after: China Address before: 271200 No. 536 Lianhua Mountain Road, Xintai Economic Development Zone, Tai'an, Shandong Patentee before: SHANDONG HONEYCOMB AVIATION TECHNOLOGY Co.,Ltd. Country or region before: China |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240423 Address after: 100160 room 301-6, North block, 3 / F, building 1, yard 1, East Road of Automobile Museum, Fengtai District, Beijing Patentee after: HONEYCOMB AEROSPACE TECNOLOGIES (BEIJING) CO.,LTD. Country or region after: China Address before: Room 301-9, North Block, 3rd Floor, Building 1, Yard 1, Automobile Museum East Road, Fengtai District, Beijing, 100160 Patentee before: Beijing Beehive Sky Technology Co.,Ltd. Country or region before: China |