CN207772810U - It is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert - Google Patents
It is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert Download PDFInfo
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- CN207772810U CN207772810U CN201721363685.1U CN201721363685U CN207772810U CN 207772810 U CN207772810 U CN 207772810U CN 201721363685 U CN201721363685 U CN 201721363685U CN 207772810 U CN207772810 U CN 207772810U
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Abstract
The utility model belongs to unmanned vehicle and unmanned submersible's technical field, it is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert.The purpose of this utility model is to provide it is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert, method by controlling submerging and surfacing device and three rotor drivers that vert, realize that unmanned plane switches between VTOL pattern, fixed-wing pattern, surface navigation pattern and underwater pattern of moving under water, to make it gather around the advantages of there are four types of unmanned planes, enhance applicable performance, controllability and the efficiency of unmanned plane.The dynamical system of the utility model is efficient, relative to traditional multi-rotor unmanned aerial vehicle, since more fixed-wing pattern, cruise duration, flying distances can be all obviously improved；It is more to be applicable in scene, can on level land, mountainous region, the water surface, work under water, to complete aerial ground, the water surface and underwater investigation, survey and draw and the appointed tasks such as hidden.
Description
Technical field
The utility model belongs to unmanned vehicle and unmanned submersible's technical field, and in particular to it is a kind of can VTOL
Aeroamphibious latent four are dwelt three rotor wing unmanned aerial vehicles that vert.
Background technology
Unmanned plane application scenario is more and more at present, higher and higher to the performance requirement workplace requirement of unmanned plane, such as
It takes photo by plane, investigate, entertain, transport.Since unmanned plane operative scenario is various, as level land, mountainous region, the underwater, water surface, day are first-class.It hangs down
Straight landing unmanned plane is of less demanding to landing condition, but cruise duration, load was smaller.Fixed-wing unmanned plane load in cruise duration
It is larger, but landing requires height.Unmanned boat can work in the water surface, filming surface environment, but can not fly, and continuation of the journey is insufficient.
Unmanned submersible can shoot underwater environment, hidden under water in underwater operation, but it is insufficient to continue a journey.Above four kinds nobody
Respectively advantage and disadvantage are apparent for machine, and the scope of application, efficiency etc. have certain limitations.
Utility model content
The purpose of this utility model is to provide it is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert,
Method by controlling submerging and surfacing device and three rotor drivers that vert realizes unmanned plane in VTOL pattern, fixed-wing pattern, water
Switch between face sail mode and underwater pattern of moving under water, to make it gather around the advantages of there are four types of unmanned planes, enhances being applicable in for unmanned plane
Performance, controllability and efficiency.
The technical solution of the utility model：
It is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert, including 2,2 fuselage 1, main wing ailerons
3,2 preceding tiliting axis 5,2 of vertical tail 4,2 lean forward 6,2 front motor rotors 7 of swivel base, hypsokinesis transposon 18, rear motor rotor
9, rear tiliting axis 10, propeller 11,2 tail vanes 12, right back air bag 13, air spring control 14, left back air bag 15, gas cylinders
16, front air bag 17 and control panel；
The main wing 2 is with the symmetrical wings of axis, with 1 integral structure of fuselage；2 ailerons 3 are
Rectangle structure is respectively fixedly connected in the both sides wing tail portion of main wing 2, can be unfolded to 1 direction of fuselage around its fixing end；2
For vertical tail 4 respectively using the central axes of main wing 2 as axis, Symmetrical vertical is fixed on 2 tail end upper surface of main wing, is located at two ailerons 3
Between；
The front motor rotor 7, which is fixed on, to lean forward on swivel base 6, before the swivel base 6 that leans forward is by preceding tiliting axis 5 and fuselage 1
Portion is connected, and left and right two parts are symmetrical with the central axes of fuselage 1；Ranging from 0 °~100 ° of the independent tilt angle of front motor rotor 7；
The rear motor rotor 9 is fixed on hypsokinesis transposon 18, the tail that hypsokinesis transposon 18 passes through rear tiliting axis 10 and fuselage 1
Portion connects, ranging from -30 °~30 ° of rear 9 tilt angle of motor rotor；Two front motor rotors 7 and rear 9 rotating speed of motor rotor are independent
VTOL and fixed-wing pattern are realized in control；
The propeller 11 and 2 tail vanes 12 pass through below 1 tail portion of fuselage, are connected on the control panel inside fuselage 1,
2 tail vanes 12 are located at 1 symmetrical axial symmetry of fuselage, propeller 11 on the symmetry axis of 2 tail vanes 12；Control panel controls 2 tail vanes
12 rotate and then change navigation direction, change headway in water by controlling 11 rotating speed of propeller；
Right back air bag 13, air spring control 14, left back air bag 15, gas cylinder 16 and the front air bag 17 is fixed
In 2 lower surface of fuselage 1 and main wing, wherein right back air bag 13, left back air bag 15 and 17 three of front air bag are in isosceles three
Angular layout, aeroamphibious latent four, which are dwelt, verts three rotor wing unmanned aerial vehicle centers of gravity on the line of symmetry of isosceles triangle；Right back air bag 13,
Left back air bag 15 and front air bag 17 are connected with gas cylinder 16 respectively, and are controlled by air spring control 14；
The beneficial effects of the utility model：The dynamical system of the utility model is efficient, relative to the more rotors of tradition nobody
Machine, since more fixed-wing pattern, cruise duration, flying distances can be all obviously improved；It is more to be applicable in scene, it can be on level land, mountain
Ground, works at the water surface under water, to complete aerial, ground, the water surface and underwater photograph technical, mapping and the appointed tasks such as hidden.
Description of the drawings
Fig. 1 is the schematic top plan view of the utility model.
Fig. 2 is the schematic side view of the utility model.
Fig. 3 is the elevational schematic view of the utility model.
Fig. 4 (a) be the utility model VTOL pattern under control schematic diagram.
Fig. 4 (b) is the rolling control schematic diagram under the VTOL pattern of the utility model.
Fig. 4 (c) is the yaw control schematic diagram under the VTOL pattern of the utility model.
Fig. 5 is control schematic diagram under the utility model fixed-wing pattern.
Fig. 6 (a) is the pitch control schematic diagram under underwater mode.
Fig. 6 (b) is the rolling control schematic diagram under underwater mode.
In figure：1 fuselage；2 main wings；3 aileron x2；4 vertical tail x2；5 tiliting axis x2；6 vert an x2；7 motor rotors
x2；8 hypsokinesis swivel bases；Motor rotor after 9；Tiliting axis after 10；11 propellers；12 tail vane x2；13 right back air bags；14 air bag controlleds
Device；15 left back air bags；16 gas cylinders；17 front air bags.
Specific implementation mode
Specific embodiment of the present utility model is described in detail below in conjunction with technical solution and attached drawing.
In conjunction with Fig. 1~6b, it is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert, including it is fuselage 1, main
2,2, the wing, 3,2, the aileron preceding tiliting axis 5,2 of vertical tail 4,2 leans forward swivel base 6,2 front motor rotors 7, hypsokinesis swivel bases
8, rear motor rotor 9, rear tiliting axis 10, propeller 11,2 tail vanes 12, right back air bag 13, air spring control 14, left backs
Air bag 15, gas cylinder 16, front air bag 17 and control panel.
The main wing 2 is with the symmetrical wings of axis and to be fixed on 1 upper surface of fuselage；2 ailerons
3 be rectangle structure, is separately fixed at the both sides wing tail portion of main wing 2；2 vertical tails 4 are respectively with the central axes of main wing 2
Axis, Symmetrical vertical are fixed on 2 tail end upper surface of main wing.
The front motor rotor 7, which is fixed on, to lean forward on swivel base 6, before the swivel base 6 that leans forward is by preceding tiliting axis 5 and fuselage 1
Portion is connected, and left and right two parts are symmetrical with 1 central axes of fuselage；Ranging from 0 °~100 ° of 7 independent tilt angle of left and right front motor rotor；
Motor rotor 9 is fixed on hypsokinesis transposon 18 afterwards, and hypsokinesis transposon 18 is connect by rear tiliting axis 10 with the tail portion of fuselage 1, rear motor
Ranging from -30 °~30 ° of 9 tilt angle of rotor.Three rotor rotating speed independent controls realize VTOL and fixed-wing pattern.
The propeller 11 and 2 tail vanes 12 pass through below 1 tail portion of fuselage, are connected on the control panel inside fuselage 1,
2 tail vanes 12 are located at 1 symmetrical axial symmetry of fuselage, propeller 11 on the symmetry axis of 2 tail vanes 12；Control panel controls 2 tail vanes
12 rotate and then change navigation direction, change headway in water by controlling 11 rotating speed of propeller.
Air spring control 14, gas cylinder 16 and the front air bag 17 is fixed on control panel in fuselage 1 from back to front successively
On, right back air bag 13, left back air bag 15, gas cylinder 16 are connected with air spring control 14 respectively with front air bag 17, wherein right
Rear air bag 13 is respectively symmetrically fixed on the wing tail portion lower end of main wing 2 with left back air bag 15, and gas cylinder 16 passes through air bag controlled
Device 14 rear air bag 13, left back air bag 15, front air bag 17 to the right.
There are four types of operating modes altogether for the utility model：
(1) VTOL pattern：
Under VTOL pattern, when 2 front motor rotors 7 of unmanned plane and rear motor rotor 9 vertically upward when, pass through
The thrust size and Orientation for controlling 2 front motor rotors 7 and rear motor rotor 9 simultaneously realizes UAV Attitude control.
Pitch control：When 2 front motor rotors 7 of unmanned plane and rear motor rotor 9 vertically upward when, pass through and adjust front
The pulling force of rotor 7 and rear rotor 9 difference, it can be achieved that pitch angle variation.Reduce front 7 rotating speed of rotor simultaneously or increases rear rotation
9 rotating speed of the wing can make unmanned plane generate pitching.
Rolling controls：When 2 front motor rotors 7 of unmanned plane and rear motor rotor 9 vertically upward when, by adjusting nobody
The pulling force difference of two rotors 7 is, it can be achieved that control to roll angle in front of machine.Increase 7 rotating speed of right forward side rotor, reduces left forward side
7 rotating speed of rotor can make unmanned plane generate rolling.
Yaw control：When 2 front motor rotors 7 of unmanned plane and rear motor rotor 9 vertically upward when, pass through and adjust hypsokinesis
Hypsokinesis transposon 18 is verted certain angle, unmanned plane can be made to generate, it can be achieved that control to yaw angle by the tilt angle of transposon 18
Yaw.
(2) fixed-wing offline mode：
With the increase of unmanned plane horizontal velocity, when 2 front motor rotors 7 are tilted to horizontal position, rear motor rotor 9 stops
When only working, unmanned plane is controlled by aileron 3 and vertical tail 4 completely.By the thrust size for controlling 2 preceding switch rotors 7
And 3 rudder face angle of aileron can realize that fixed-wing flies.
(3) surface navigation pattern：
2 front motor rotors 7 of unmanned plane are stopped with rear motor rotor 9, gas cylinder 16 by air spring control 14 to
Right back air bag 13, left back air bag 15, front air bag 17 make unmanned plane float on the water surface, 12 left-right rotation of tail vane full of air
Unmanned plane course is controlled, propeller 11 controls unmanned plane forward-reverse speed.
(4) underwater navigation pattern：
2 front motor rotors 7 of unmanned plane are stopped with rear motor rotor 9, gas cylinder 16 by air spring control 14 to
Right back air bag 13, left back air bag 15, front air bag 17 are filled with appropriate air and ensure that unmanned plane is latent deep.
Pitch control：Air bag right back air bag 13 and left back air bag 15 and front air bag are controlled by air spring control 14
The difference of 17 gas-storing capacities controls the underwater pitch angle of unmanned plane.Increase 13 gas-storing capacity of right back air bag and 15 gas storage of left back air bag
Amount reduces front 17 gas-storing capacity of air bag, unmanned plane can be made to generate pitching.
Rolling controls：By air spring control 14 control right back air bag 13 and 15 gas-storing capacity of left back air bag difference thus
Control the underwater roll angle of unmanned plane.Increase 13 gas-storing capacity of right back air bag, reduces 15 gas-storing capacity of left back air bag, nobody can be made
Machine generates rolling.12 left-right rotation of tail vane controls unmanned plane course, and propeller 11 controls unmanned plane forward-reverse speed.
Claims (2)
1. it is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert, which is characterized in that the VTOL
Dwell three rotor wing unmanned aerial vehicles that vert of aeroamphibious latent four include right back air bag (13), air spring control (14), left back air bag
(15), gas cylinder (16) and front air bag (17)；
Right back air bag (13), air spring control (14), left back air bag (15), gas cylinder (16) and the front air bag (17)
It is each attached to fuselage (1) and main wing (2) lower surface, wherein right back air bag (13), left back air bag (15) and front air bag
(17) three is laid out in isosceles triangle, aeroamphibious latent four dwell vert three rotor wing unmanned aerial vehicle centers of gravity isosceles triangle line of symmetry
On；Right back air bag (13), left back air bag (15) and front air bag (17) are connected with gas cylinder (16) respectively, and pass through air bag control
Device (14) control processed.
2. it is according to claim 1 can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert, which is characterized in that
Dwell three rotor wing unmanned aerial vehicles that vert of the aeroamphibious latent four include fuselage (1), main wing (2), 2 ailerons (3), 2 vertical tails
(4), 2 preceding tiliting axis (5), 2 swivel bases that lean forward (6), 2 front motor rotors (7), hypsokinesis swivel base (8), rear motor rotor (9),
Tiliting axis (10), propeller (11), 2 tail vanes (12), right back air bag (13), air spring control (14), left back air bag afterwards
(15), gas cylinder (16), front air bag (17) and control panel；
The main wing (2) is with the symmetrical wings of axis, with fuselage (1) integral structure；2 ailerons (3)
For rectangle structure, it is respectively fixedly connected in the both sides wing tail portion of main wing (2), it can be around its fixing end to fuselage (1) direction exhibition
It opens；For 2 vertical tails (4) respectively using the central axes of main wing (2) as axis, Symmetrical vertical is fixed on main wing (2) tail end upper surface, position
Between two ailerons (3)；
The front motor rotor (7) is fixed on the swivel base that leans forward (6), and the swivel base that leans forward (6) passes through preceding tiliting axis (5) and fuselage
(1) front is connected, and left and right two parts are symmetrical with the central axes of fuselage (1)；The independent tilt angle range of front motor rotor (7)
It is 0 °~100 °；
The rear motor rotor (9) is fixed on hypsokinesis swivel base (8), and hypsokinesis swivel base (8) passes through rear tiliting axis (10) and fuselage
(1) tail portion connection, rear ranging from -30 °~30 ° of motor rotor (9) tilt angle；Two front motor rotors (7) and the rotation of rear motor
The wing (9) rotating speed independent control realizes VTOL and fixed-wing pattern；
The propeller (11) and 2 tail vanes (12) passes through below fuselage (1) tail portion, is connected to the internal control of fuselage (1)
On plate, 2 tail vanes (12) are located at fuselage (1) symmetrical axial symmetry, propeller (11) on the symmetry axis of 2 tail vanes (12)；Control
Plate controls 2 tail vanes (12) and rotates and then change navigation direction, is changed by controlling propeller (11) rotating speed and is navigated in water
Scanning frequency degree；
Right back air bag (13), air spring control (14), left back air bag (15), gas cylinder (16) and the front air bag (17)
It is each attached to fuselage (1) and main wing (2) lower surface, wherein right back air bag (13), left back air bag (15) and front air bag
(17) three is centrosymmetric layout；Right back air bag (13), left back air bag (15) and front air bag (17) respectively with gas cylinder
(16) it is connected, and is controlled by air spring control (14)；
Aeroamphibious latent four, which are dwelt, verts that there are four types of operating modes altogether for three rotor wing unmanned aerial vehicles：
(1) VTOL pattern：
Under VTOL pattern, when 2 front motor rotors (7) of unmanned plane and rear motor rotor (9) vertically upward when, pass through
The thrust size and Orientation for controlling 2 front motor rotors (7) and rear motor rotor (9) simultaneously realizes UAV Attitude control；
Pitch control：When 2 front motor rotors (7) of unmanned plane and rear motor rotor (9) vertically upward when, pass through and adjust front
The pulling force of rotor (7) and rear rotor (9) is poor, realizes the variation of pitch angle；After reducing front rotor (7) rotating speed simultaneously or increasing
Fang Xuanyi (9) rotating speed makes unmanned plane generate pitching；
Rolling controls：When 2 front motor rotors (7) of unmanned plane and rear motor rotor (9) vertically upward when, by adjusting nobody
The pulling force of two rotors (7) is poor in front of machine, realizes the control to roll angle；Increase right forward side rotor (7) rotating speed, it is left to reduce front
The sidespin wing (7) rotating speed makes unmanned plane generate rolling；
Yaw control：When 2 front motor rotors (7) of unmanned plane and rear motor rotor (9) vertically upward when, pass through and adjust hypsokinesis
The tilt angle of swivel base (8) realizes control to yaw angle, and hypsokinesis swivel base (8) is verted certain angle, unmanned plane is made to generate
Yaw；
(2) fixed-wing offline mode：
With the increase of unmanned plane horizontal velocity, when 2 front motor rotors (7) are tilted to horizontal position, rear motor rotor (9) is stopped
When only working, unmanned plane is controlled by aileron (3) and vertical tail (4) completely；By controlling pushing away for 2 preceding switch rotor (7)
Power size and aileron (3) rudder face angle realize fixed-wing flight；
(3) surface navigation pattern：
2 front motor rotors (7) of unmanned plane are stopped with rear motor rotor (9), and gas cylinder (16) passes through air spring control
(14) rear air bag (13), left back air bag (15), front air bag (17) make unmanned plane float on the water surface, tail full of air to the right
Rudder (12) left-right rotation controls unmanned plane course；
(4) underwater navigation pattern：
2 front motor rotors (7) of unmanned plane are stopped with rear motor rotor (9), and gas cylinder (16) passes through air spring control
(14) rear air bag (13), left back air bag (15), front air bag (17) are filled with the latent depth of air guarantee unmanned plane to the right；
Pitch control：Air bag right back air bag (13) and left back air bag (15) and front gas are controlled by air spring control (14)
The difference of capsule (17) gas-storing capacity controls the underwater pitch angle of unmanned plane；Increase right back air bag (13) gas-storing capacity and left back air bag
(15) gas-storing capacity reduces front air bag (17) gas-storing capacity, unmanned plane is made to generate pitching；
Rolling controls：By air spring control (14) control right back air bag (13) and left back air bag (15) gas-storing capacity difference from
And control the underwater roll angle of unmanned plane；Increase right back air bag (13) gas-storing capacity, reduces left back air bag (15) gas-storing capacity, make
Unmanned plane generates rolling；Tail vane (12) left-right rotation controls unmanned plane course.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721363685.1U CN207772810U (en) | 2017-10-23 | 2017-10-23 | It is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721363685.1U CN207772810U (en) | 2017-10-23 | 2017-10-23 | It is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207772810U true CN207772810U (en) | 2018-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721363685.1U Withdrawn - After Issue CN207772810U (en) | 2017-10-23 | 2017-10-23 | It is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639984A (en) * | 2017-10-23 | 2018-01-30 | 大连理工大学 | It is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert |
| CN109263974A (en) * | 2018-10-30 | 2019-01-25 | 佛山市神风航空科技有限公司 | A kind of Convertiplane waterborne |
| CN109292889A (en) * | 2018-11-14 | 2019-02-01 | 伊犁师范学院 | A kind of graphene robot |
| CN109878699A (en) * | 2019-03-04 | 2019-06-14 | 吉林大学 | Across the medium aircraft propeller of one kind stretches and head reclining device |
| WO2020165724A1 (en) * | 2019-02-11 | 2020-08-20 | Khalifa University of Science and Technology | Hybrid aquatic unmanned aerial and submersible vehicle |
| WO2020215304A1 (en) * | 2019-04-22 | 2020-10-29 | 大连理工大学 | Sea-land-air-underwater adapted vehicle capable of vertical take-off and landing |
-
2017
- 2017-10-23 CN CN201721363685.1U patent/CN207772810U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639984A (en) * | 2017-10-23 | 2018-01-30 | 大连理工大学 | It is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert |
| CN107639984B (en) * | 2017-10-23 | 2023-07-18 | 大连理工大学 | Sea, land, air and water amphibious four-purpose tilting three-rotor unmanned aerial vehicle capable of taking off and landing vertically |
| CN109263974A (en) * | 2018-10-30 | 2019-01-25 | 佛山市神风航空科技有限公司 | A kind of Convertiplane waterborne |
| CN109292889A (en) * | 2018-11-14 | 2019-02-01 | 伊犁师范学院 | A kind of graphene robot |
| WO2020165724A1 (en) * | 2019-02-11 | 2020-08-20 | Khalifa University of Science and Technology | Hybrid aquatic unmanned aerial and submersible vehicle |
| CN109878699A (en) * | 2019-03-04 | 2019-06-14 | 吉林大学 | Across the medium aircraft propeller of one kind stretches and head reclining device |
| CN109878699B (en) * | 2019-03-04 | 2022-02-15 | 吉林大学 | Cross-medium aircraft propeller telescoping and aircraft nose tilting device |
| WO2020215304A1 (en) * | 2019-04-22 | 2020-10-29 | 大连理工大学 | Sea-land-air-underwater adapted vehicle capable of vertical take-off and landing |
| US11433999B2 (en) | 2019-04-22 | 2022-09-06 | Dalian University Of Technology | Vehicle capable of taking off and landing vertically and operating in water, land, air and submarine environments |
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