CN208855868U - The compound unmanned plane of multiaxis fixed-wing - Google Patents
The compound unmanned plane of multiaxis fixed-wing Download PDFInfo
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- CN208855868U CN208855868U CN201821622090.8U CN201821622090U CN208855868U CN 208855868 U CN208855868 U CN 208855868U CN 201821622090 U CN201821622090 U CN 201821622090U CN 208855868 U CN208855868 U CN 208855868U
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Abstract
The utility model discloses a kind of compound unmanned plane of multiaxis fixed-wing, which includes fixed-wing body, rotor mechanism and be arranged in the intracorporal steering mechanism of fixed-wing aircraft；Steering mechanism includes the rotary drive assembly for crossing fixed-wing body and being rotated from the turning-bar of the both ends of wing stretching and driving turning-bar using its axis as shaft；Rotor mechanism includes the fixation bracket for being symmetrically arranged at the both ends of turning-bar, is arranged on fixed bracket along the actuator of the direction setting perpendicular to turning-bar and the rotor for the output shaft for connecting actuator, and the shaft of rotor is parallel to each other and is vertically arranged with turning-bar.The utility model solves in the prior art, and multiaxial type unmanned plane is since airframe structure limits, the unhappy problem of flying speed.
Description
Technical field
The utility model relates to unmanned plane fields, and in particular to a kind of compound unmanned plane of multiaxis fixed-wing.
Background technique
Fixed wing aircraft or unmanned plane flow through the pressure difference that upper and lower airfoil is formed by air and generate in horizontal flight
Lift so that aircraft, which can be used, can be obtained longer airborne period compared with the engine of low thrust.But fixed wing aircraft rises
Fly and require when landing the runway of relatively long distance.The fixed-wing unmanned plane for having installed VTOL rotor additional, can preferably solve
Certainly fixed-wing unmanned plane needs the problem of runway run-up landing, but in flat winged state, the rotor for landing no longer plays work
With becoming instead and increase useless load to aircraft and bring the burden of flight resistance.In the prior art, multiaxial type unmanned plane is general
It is flat winged to realize by the revolving speed for controlling the power unit of different direction, but the limitation limitation of its airframe structure, flat flying speed
It is unhappy.
Utility model content
The main purpose of the utility model is to propose a kind of compound unmanned plane of multiaxis fixed-wing, it is intended to solve the prior art
In, multiaxial type unmanned plane is since airframe structure limits, the unhappy problem of flying speed.
To achieve the above object, the utility model proposes a kind of compound unmanned plane of multiaxis fixed-wing, including fixed-wing body,
Rotor mechanism and setting are in the intracorporal steering mechanism of the fixed-wing aircraft；
The steering mechanism includes from the turning-bar of the left and right sides of fixed-wing body stretching and for driving
State the rotary drive assembly that turning-bar is rotated around an axis；
The rotor mechanism includes being separately positioned on the both ends of the turning-bar and symmetrical about the fixed-wing body
Fixed bracket, the actuator being arranged on the fixed bracket and the rotor being arranged on the support bracket fastened both ends, institute
Actuator is stated to connect with the shaft of the rotor；
It is described from the head of the fixed-wing body toward tail direction, and using the turning-bar position as separating
The rotor of the neighbouring head forms the first rotor group in rotor mechanism, and the rotor far from the head forms the second rotor group,
It is formed corresponding to lift official post the first rotor group and the second rotor group between the first rotor group and the second rotor group
When lifting surface relative level is verted, the steering mechanism is for adjusting the angle of the fixed-wing body with respect to the horizontal plane.
Preferably, for the fixation holder combination on the turning-bar and its both ends at " H " type structure, the shaft of the rotor is mutual
It is parallel and be vertically arranged with the pivot center of the turning-bar.
Preferably, the turning-bar is structure as a whole, and the compound unmanned plane of multiaxis fixed-wing further includes locking mechanism, institute
Stating locking mechanism includes being set on the turning-bar and with described in the locking ring being open and the driving locking ring holding
The locking driving motor of turning-bar.
Preferably, the rotary drive assembly includes engaging with the worm gear of turning-bar coaxial arrangement, with the worm gear
Worm screw and steering driving motor for driving worm screw rotation；Alternatively, the rotary drive assembly include with it is described
The driven gear of turning-bar coaxial arrangement, the driving gear that is engaged with the driven gear and for driving the driving gear
The steering driving motor of rotation；Alternatively, the rotary drive assembly includes turning to driving motor and the steering driving motor
It exports the drive pulley of axis connection and the driven pulley of turning-bar coaxial arrangement and is connected to the drive pulley
Synchronous belt between wheel and driven pulley.
Preferably, the fixed bracket include with the vertically disposed first connecting rod of the turning-bar, be separately positioned on institute
It states first connecting rod both ends and second connecting rod parallel with the turning-bar and third connecting rod and is separately positioned on described
The installation position at the both ends of the second connecting rod and third connecting rod, the rotor are arranged on the installation position, the first connecting rod,
Second connecting rod and third connecting rod are combined into " H " type structure.
Preferably, the actuator includes motor or fuel engines.
Preferably, the hollow setting of the turning-bar, for for connecting the actuator route or oil circuit pass through.
Preferably, the compound unmanned plane of multiaxis fixed-wing further includes the first posture being arranged on the fixed-wing body
Sensor and the second attitude transducer being arranged on the fixed bracket, first attitude transducer and the second posture pass
Sensor is connect with the flight controller of the compound unmanned plane of multiaxis fixed-wing.
The utility model is by being arranged symmetrical rotor mechanism, in fuselage at the wing both ends of multiaxis fixed-wing body
The turning-bar and driving turning-bar of portion's setting connection rotor mechanism drive the rotary drive assembly of rotor mechanism overturning, make rotor
Lift is provided for fixed-wing body when the rotary shaft of mechanism keeps vertical, after rotary drive assembly driving rotor mechanism overturning,
Shaft and head, which are directed toward one, to be shown to provide and equals winged driving force, make the compound unmanned plane of this multiaxis fixed-wing can in vertical lift and
Quick flat flies to switch between equal movement, solves in the prior art that multiaxial type unmanned plane is since airframe structure limits, and flying speed is not
Fast problem.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of compound one embodiment of unmanned plane of the utility model multiaxis fixed-wing；
Fig. 2 is the structural schematic diagram that mechanism structure is turned in Fig. 1 embodiment；
Fig. 3 is the structural schematic diagram of another embodiment of the compound unmanned plane of the utility model multiaxis fixed-wing.
Specific embodiment
The embodiments of the present invention are described more fully below, the example of embodiment is shown in the accompanying drawings, wherein from beginning extremely
Last phase indicates identical element or element with the same function with label.Embodiment below with reference to attached drawing description is to show
Example property, it is intended to for explaining the utility model, and should not be understood as limiting the present invention, based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
It fall within the protection scope of the utility model.
In order to solve the above technical problems, the utility model proposes a kind of compound unmanned planes of multiaxis fixed-wing, referring to Fig.1 and scheme
2, which includes fixed-wing body 10, rotor mechanism 20 and is arranged in fixed-wing body 10
Steering mechanism 30；Steering mechanism 30 include cross fixed-wing body 10 and from the both ends of wing stretch out turning-bar 31 and driving
The rotary drive assembly that turning-bar 31 is rotated using its axis as shaft；Rotor mechanism 20 includes being separately positioned on turning-bar 31
Both ends fixation bracket 21, be arranged on fixed bracket 21 along the actuator of the direction setting perpendicular to turning-bar 31 and
Connect the rotor of the output shaft of actuator.The head of self-retaining wing body toward tail direction, and using turning-bar position as
Separate, the rotor of neighbouring head forms the first rotor group in rotor mechanism, and the rotor far from head forms the second rotor group, the
Between one rotor group and the second rotor group when shape lift difference, steering mechanism is for adjusting the angle of fixed-wing body with respect to the horizontal plane
Degree.The head of self-retaining wing body is toward tail direction, neighbouring in rotor mechanism 20 and using 31 position of turning-bar as separating
The rotor of head forms the first rotor group, and the rotor far from head forms the second rotor group, the first rotor group with it is described
When forming lifting surface relative level corresponding to lift official post the first rotor group and the second rotor group between the second rotor group and verting,
The steering mechanism is for adjusting the angle of the fixed-wing body with respect to the horizontal plane.
In the present embodiment, fixed-wing body 10 includes head, fuselage, wing and tail, and steering mechanism 30 includes crossing
Fuselage and the turning-bar 31 stretched out from the both ends of wing.It is additionally provided with mounting base 35 in fuselage interior, mounting base 35 includes fixing
In the fixed plate of fuselage interior, two support plates that are upwardly extended from fixed plate and two support sleeves being arranged in two support plates,
The support sleeve and turning-bar 31 are rotatablely connected by bearing.Gear drive, belt transmission or worm gear may be selected in rotary drive assembly
The modes such as worm-drive.
Such as: rotary drive assembly includes the driven gear being coaxially disposed with turning-bar 31, the master engaged with driven gear
Moving gear and for drive driving gear rotate steering driving motor；Alternatively, rotary drive assembly includes turning to driving electricity
Machine, with turn to driving motor output axis connection drive pulley, with turning-bar 31 coaxial arrangement driven pulley and
The synchronous belt being connected between drive pulley and driven pulley.Preferred Worm Wheel System herein.Driving group is rotated as a result,
Part includes the worm gear 32 being coaxially disposed with turning-bar 31 and the worm screw 33 being adapted to worm gear 32.Worm screw 33 is by being fixed at
Fuselage interior turns to driving motor 34 and drives, and worm gear 32 is located at the middle section of turning-bar 31.Rotor is as ginseng behind turning-bar 31
According to when, the effect of steering mechanism 30 is to adjust fixed-wing body angle with respect to the horizontal plane.
In the present embodiment, fixed bracket 21 includes the first connecting rod 22 connecting with turning-bar 31, first connecting rod 22
Midpoint connect and be vertically arranged with turning-bar 31.Fixed bracket 21 further includes the installation that 22 both ends of first connecting rod are arranged in
Position, installation position is for installing actuator.The preferred motor of actuator, gasoline engine or diesel engine.The defeated of actuator is then arranged in rotor
On shaft, i.e., every width rotor drives respectively by a motor driven, or by a fuel engines.In addition it is also possible to be same
Two width rotors of side are driven by a fuel engines by shaft or synchronous belt simultaneously.It is worth noting that turning-bar 31
Optimum position is the center of gravity across body, to slow down the overturning of fuselage when rotor mechanism 20 adjusts corner.
Symmetrical rotor mechanism 20 is arranged by the wing both ends in fixed-wing body 10, in fuselage in the utility model
The rotation driving group that the turning-bar 31 and driving turning-bar 31 of portion's setting connection rotor mechanism 20 drive rotor mechanism 20 to overturn
Part, fixed-wing body 10 provides lift when the rotary shaft of rotor mechanism 20 being made to keep vertical, revolves when rotary drive assembly drives
After wing mechanism 20 is overturn, shaft and head are directed toward one and show the flat winged driving force of offer, make the compound unmanned plane of this multiaxis fixed-wing
The movements such as achievable vertical lift and quick flat are winged.Solve it is more in the prior art, shaft type unmanned plane due to airframe structure limit
System, the unhappy problem of flying speed.
Further, when rotary drive assembly uses the kind of drive without self-locking function, when such as using gear drive, this
Locking mechanism is additionally provided with inside the compound unmanned plane of multiaxis fixed-wing, locking mechanism includes the locking ring being arranged on turning-bar 31
40 and drive 40 locking turning-bar 31 of locking ring locking driving motor.The opening setting of locking ring 40, including it is set in steering
The sticking department of 31 outer wall of bar extends from one end of opening and prolongs with the fixing end being fixedly connected and from the other end of opening
The keyed end stretched and connect with locking driving motor, under the driving of the second motor, keyed end can drive to fixed end motion
Dynamic 40 locking turning-bar 31 of locking ring realizes locking, avoids the compound unmanned plane of multiaxis fixed-wing rotor mechanism 20 in flight course
Occur abnormally to deflect between body, it is ensured that flight stability.
In one preferred embodiment of the utility model, referring to Fig.1, fixed bracket 21 includes first connect with turning-bar 31
Connecting rod 22 and the installation position that 22 both ends of first connecting rod are arranged in, installation position is for installing actuator.In the present embodiment,
When using the direction of fixed-wing head as upwardly direction, two first connecting rods 22 in rotor mechanism 20 are constituted with turning-bar 31
The structure of one " H " type, actuator and rotor thereon are arranged at four ends of " H " type structure, the two of two first connecting rods 22
End is provided with the installation position of installation actuator.Actuator and 4 points of the rotor flights for being distributed as fuselage provide stable lift.
In the utility model another preferred embodiment, referring to Fig. 3, fixed bracket 21 includes the connect with turning-bar 31
One connecting rod 22, be vertically set on 22 both ends of first connecting rod and second connecting rod 23 parallel with turning-bar 31 and third connection
Bar 24 and be separately positioned on the second connecting rod 23 and third connecting rod 24 both ends installation position, installation position for install driving
Part.In the present embodiment, using fixed-wing head direction be used as upwardly direction when, fixation bracket 21 by first connecting rod 22,
The second third connecting rod 24 of connecting rod 23 forms a dies, and first connecting rod 22 connects disposed in parallel second
The midpoint of connecting rod 23 and third connecting rod 24.Turning-bar 31 is equally arranged in parallel with the second connecting rod 23 and third connecting rod 24
And it is connect with the center of first connecting rod 22.Four ends of fixed bracket 21 are arranged in actuator and rotor.Thus entire multiaxis is solid
The left and right both wings for determining the compound unmanned plane of the wing are respectively set four rotors and bigger lift and flat winged driving force have been provided.
In another embodiment of the utility model, the hollow setting of turning-bar 31, for the route or oil for connecting actuator
Road passes through.Turning-bar 31 and the fixed hollow setting of bracket 21 in the present embodiment, the connecting line or pipeline road of actuator can
The overall weight for reducing fuselage, cloth are connect/passed to the power supply of fuselage interior or fuel tank by turning-bar 31 and fixed bracket 21
Line is simpler, is easily installed and safeguards.
In another embodiment of the utility model, the compound unmanned plane of multiaxis fixed-wing further includes being arranged in fixed-wing body 10
On the first attitude transducer and the second attitude transducer for being arranged on fixed bracket 21.In the present embodiment, the first appearance
State sensor and the preferred graphite gyroscope of the second attitude transducer, the second attitude transducer are fixedly connected with fixed bracket 21, when
The second attitude transducer rotates synchronously when fixed bracket 21 rotates, to detect the posture of multiaxis unmanned plane.
In addition, the encoder connecting with turning-bar 31 angularly sensor also may be selected in the second attitude transducer, can be used for
The rotational angle of turning-bar 31 is measured you can learn that the opposite rotational angle with fuselage of rotor plane, thus the second attitude transducer
It may be provided at internal body.
Rotor flies control and connect with the second attitude transducer, while connecting with rotor drive control device, and rotor flies control from second
Attitude transducer obtains attitude data, merges the instruction of remote command or auto-flare system module, generates rotor control and refers to
It enables and is sent to rotor drive control device.First attitude transducer is installed on fixed-wing body 10, for detecting fixed-wing body
10 posture, fixed-wing fly control and connect with the first attitude transducer, while driving with the aileron, empennage, rotor of fixed wing aircraft
Controller and rotary drive assembly connection, fixed-wing fly control and obtain attitude data from the first attitude transducer, merge remote controler
Instruction or the instruction of automatic vehicle generate gesture stability instruction to drive aileron, empennage and rotor.Fixed-wing fly control and
Rotor flies control connection, for intercoursing attitude data and control instruction.Fixed-wing flies control and rotor flies control and is also possible to share
One hardware entities, fixed-wing flies control and rotor flies two tasks controlled be in the common hardware system.
Therefore above part for being only the utility model or preferred embodiment, either text or attached drawing cannot all limit
The range of the utility model protection processed is illustrated under all designs with one entirety of the utility model using the utility model
Equivalent structure transformation made by book and accompanying drawing content, or directly/be used in other related technical areas indirectly and be included in this
In the range of utility model protection.
Claims (8)
1. a kind of compound unmanned plane of multiaxis fixed-wing, which is characterized in that including fixed-wing body, rotor mechanism and be arranged in institute
State the intracorporal steering mechanism of fixed-wing aircraft；
The steering mechanism includes from the turning-bar of the left and right sides of fixed-wing body stretching and for driving described turn
The rotary drive assembly rotated to bar around an axis；
The rotor mechanism includes being separately positioned on the both ends of the turning-bar and symmetrically fixing about the fixed-wing body
Bracket, the actuator being arranged on the fixed bracket and the rotor being arranged on the support bracket fastened both ends, the drive
Moving part is connect with the shaft of the rotor；
From the head of the fixed-wing body toward tail direction, and using the turning-bar position as separating, the rotor
The rotor of the neighbouring head forms the first rotor group in mechanism, and the rotor far from the head forms the second rotor group, in institute
It states and forms lift corresponding to lift official post the first rotor group and the second rotor group between the first rotor group and the second rotor group
When face relative level is verted, the steering mechanism is for adjusting the angle of the fixed-wing body with respect to the horizontal plane.
2. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that on the turning-bar and its both ends
Fixation holder combination at " H " type structure, the shaft of the rotor is parallel to each other and vertical with the pivot center of the turning-bar
Setting.
3. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that the turning-bar is integrated knot
Structure, the compound unmanned plane of multiaxis fixed-wing further includes locking mechanism, and the locking mechanism includes being set on the turning-bar
And hold the locking driving motor of the turning-bar tightly with the locking ring and the driving locking ring being open.
4. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that the rotary drive assembly includes
With the worm gear of turning-bar coaxial arrangement, the worm screw that is engaged with the worm gear and steering for driving the worm screw to rotate
Driving motor；Alternatively, the rotary drive assembly includes and the driven gear of turning-bar coaxial arrangement and the driven tooth
Take turns the driving gear of engagement and the steering driving motor for driving the driving gear rotation；Alternatively, the rotation driving
Component includes turning to driving motor, drive pulley and the turning-bar with the output axis connection for turning to driving motor
The driven pulley of coaxial arrangement and the synchronous belt being connected between the drive pulley and driven pulley.
5. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that the fixed bracket includes and institute
The vertically disposed first connecting rod of turning-bar is stated, the first connecting rod both ends are separately positioned on and is parallel with the turning-bar
Second connecting rod and third connecting rod and be separately positioned on second connecting rod and third connecting rod both ends installation position,
The rotor is arranged on the installation position, and the first connecting rod, the second connecting rod and third connecting rod are combined into " H " type knot
Structure.
6. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that the actuator includes motor
Or fuel engines.
7. the compound unmanned plane of multiaxis fixed-wing according to claim 6, which is characterized in that the hollow setting of turning-bar,
For for connecting the actuator route or oil circuit pass through.
8. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that the compound nothing of multiaxis fixed-wing
Man-machine for further including the first attitude transducer being arranged on the fixed-wing body and being arranged on the fixed bracket
Two attitude transducers, first attitude transducer and the second attitude transducer fly with the compound unmanned plane of multiaxis fixed-wing
Line control unit connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821622090.8U CN208855868U (en) | 2018-09-30 | 2018-09-30 | The compound unmanned plane of multiaxis fixed-wing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821622090.8U CN208855868U (en) | 2018-09-30 | 2018-09-30 | The compound unmanned plane of multiaxis fixed-wing |
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| Publication Number | Publication Date |
|---|---|
| CN208855868U true CN208855868U (en) | 2019-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821622090.8U Active CN208855868U (en) | 2018-09-30 | 2018-09-30 | The compound unmanned plane of multiaxis fixed-wing |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131866A (en) * | 2018-09-30 | 2019-01-04 | 深圳市旗客智能技术有限公司 | The compound unmanned plane of multiaxis fixed-wing and its flight control method |
| WO2023197534A1 (en) * | 2022-04-11 | 2023-10-19 | 南京邮电大学 | Locomotion apparatus for climbing robot, and flying-climbing robot thereof |
-
2018
- 2018-09-30 CN CN201821622090.8U patent/CN208855868U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131866A (en) * | 2018-09-30 | 2019-01-04 | 深圳市旗客智能技术有限公司 | The compound unmanned plane of multiaxis fixed-wing and its flight control method |
| WO2023197534A1 (en) * | 2022-04-11 | 2023-10-19 | 南京邮电大学 | Locomotion apparatus for climbing robot, and flying-climbing robot thereof |
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