CN219133766U - Unmanned aerial vehicle with amphibious tilting rotor - Google Patents
Unmanned aerial vehicle with amphibious tilting rotor Download PDFInfo
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- CN219133766U CN219133766U CN202222523247.4U CN202222523247U CN219133766U CN 219133766 U CN219133766 U CN 219133766U CN 202222523247 U CN202222523247 U CN 202222523247U CN 219133766 U CN219133766 U CN 219133766U
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Abstract
The utility model discloses a water-air amphibious tilting rotor unmanned aerial vehicle, which comprises: fuselage, pontoon, wing, rotor and elevator; the pontoons are symmetrically arranged at two sides of the bottom of the machine body and are used for realizing that the unmanned aerial vehicle slides on the water surface; wings are symmetrically arranged on two side parts of the fuselage, the rotor wings are upwards arranged on the wings, and the rotor wings can tilt at an angle; and an elevator is arranged at the tail part of the machine body. The amphibious tilting rotor unmanned aerial vehicle has the advantages of compact structure, easiness in assembly, simplicity in control, stable take-off gesture and the like, has both air flight capacity and water navigation capacity, can independently perform water operation under the condition of no carrier or other fixed platform carrying, and provides more powerful support for offshore development work.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to a water-air amphibious tilting rotor unmanned aerial vehicle.
Background
The method has the advantages that the method is used as a large country with both sea and land, has rich ocean resources and wide development prospect, improves ocean development, utilization, control and protection capability, and has great strategic significance in accelerating the construction of strong ocean countries. However, due to the complex geographical meteorological conditions of the ocean, it is difficult to improve the efficiency by only inputting manpower. In recent years, unmanned aerial vehicle technology development is fast and widely applied, and the unmanned aerial vehicle technology is used for providing support for offshore tasks. On one hand, the special software program is used for controlling and matching with special on-board task load to combine the hardness and softness, so that the adaptability and the working efficiency of the unmanned aerial vehicle to the environment can be effectively improved, and on the other hand, the unmanned aerial vehicle has the advantage when the task with high risk, great difficulty and boring is completed due to the unmanned aerial vehicle.
Common unmanned aerial vehicles include fixed-wing unmanned aerial vehicles, multi-rotor unmanned aerial vehicles, flapping-wing unmanned aerial vehicles and the like. Conventional fixed wing unmanned aerial vehicle need runway of certain length to run until reaching take-off speed, utilizes the air pressure difference that air produced on upper and lower surface of wing to provide lift and takes off, makes its deployment receive the environmental restriction great to the requirement in place. Many rotor unmanned aerial vehicle provide lift control flight through adjusting rotor rotational speed, can overcome the limit of landing place to a certain extent, application range is wider, simple structure easily develops, and corresponding technical research and practical development are also comparatively ripe, but the four rotor unmanned aerial vehicle that present a large amount of uses relies on adjusting four rotor rotational speeds and direction of rotation when taking off and land accomplish six degrees of freedom and move, belongs to typical underactuated system, appears the limited condition of flexibility easily when in actual use to it is higher to provide the requirement to controller stability. The existing ornithopter unmanned aerial vehicle has the problems of single driving mode, multiple pneumatic couplings, difficult dynamic modeling, high material requirement, immature control technology and the like, and has larger flight performance than the fixed-wing aircraft and the rotor unmanned aerial vehicle.
Disclosure of Invention
The utility model aims to solve the technical problem of overcoming the defects of the prior art and providing the amphibious tilting rotor unmanned aerial vehicle which has the advantages of compact structure, easy assembly and stable take-off posture.
In order to solve the technical problems, the utility model adopts the following technical scheme:
a water-air amphibious tiltrotor unmanned aerial vehicle, comprising: fuselage, pontoon, wing, first rotor and elevator; the pontoons are symmetrically arranged at two sides of the bottom of the machine body and are used for realizing that the unmanned aerial vehicle slides on the water surface; wings are symmetrically arranged on two side parts of the fuselage, the first rotor wing is upwards arranged on the wings, and the first rotor wing can tilt at an angle; and an elevator is arranged at the tail part of the machine body.
As a further improvement of the utility model, the transverse arrangement position of the pontoon at the bottom of the fuselage is as follows:
0.15b<D<0.22b
wherein: b is wing span length, and D is the interval between two pontoons.
As a further improvement of the utility model, the first rotor is connected with a tilting mechanism and a motor, the tilting mechanism and the motor are arranged on the wing, the motor is used for driving the first rotor to rotate, and the tilting mechanism is used for driving the first rotor to tilt.
As a further development of the utility model, a second rotor is also included, which is mounted on the tail of the fuselage.
As a further development of the utility model, a landing gear is also included, which is used to connect the pontoon with the bottom of the fuselage.
As a further improvement of the utility model, the landing gear is detachably connected with the bottom of the machine body, and the landing gear is fixedly connected with the pontoon.
As a further improvement of the utility model, the fuselage is internally mounted with a battery.
As a further development of the utility model, the fuselage is internally fitted with a flight control device.
As a further improvement of the utility model, the bottom of the pontoon is of a double concave surface structure.
As a further improvement of the utility model, the pontoon is prepared from a composite material.
Compared with the prior art, the utility model has the advantages that:
according to the amphibious tilt rotor unmanned aerial vehicle, the rotor with the tilting angle is additionally arranged on the fixed wing unmanned aerial vehicle by combining the fixed wing aircraft with the rotor unmanned aerial vehicle, so that a new tilt rotor unmanned aerial vehicle is formed, the functions of vertical take-off and landing and rapid forward flight can be realized by changing the rotor modes, and the unmanned aerial vehicle has the advantages of high cruise speed, long navigation time and the like of the fixed wing, and also has the advantages of flexible take-off and landing of the rotor unmanned aerial vehicle, low requirement on a deployment place and the like. Meanwhile, the buoy is additionally arranged on the rotor wing unmanned plane to obtain the tilting rotor wing unmanned plane with the buoy, when the endurance time is required to be prolonged, the buoy can be directly utilized to float and stay on the water surface, when the floating state is required to be separated, the surrounding situation is rapidly responded, the rapid response is realized by controlling the tilting angle of the rotor wing to adopt different take-off and landing modes, the tilting angle of the rotor wing is controlled to keep the rotor wing to face upwards, the vertical take-off and landing can be completed, the wing surface of the rotor wing can be forwards changed into a fixed wing mode to fly after the preset height is reached, the flying speed is higher, the fixed wing mode can also be directly used, and the floating acceleration is carried out on the water surface by utilizing the buoy until the take-off speed is reached, and the medium-crossing take-off is completed.
Drawings
Fig. 1 is a schematic top view structural principle of the amphibious tilt rotor unmanned aerial vehicle.
Fig. 2 is a schematic side view structural principle of the amphibious tilting rotor unmanned aerial vehicle.
Fig. 3 is a schematic view of the structural principle of the pontoon appearance in the utility model.
Legend description: 1. a body; 2. a pontoon; 3. a wing; 4. a first rotor; 5. an elevator; 6. a tilting mechanism; 7. a second rotor; 8. and (5) landing gear.
Detailed Description
The utility model is further described below in connection with the drawings and the specific preferred embodiments, but the scope of protection of the utility model is not limited thereby.
Examples
As shown in fig. 1 to 3, the amphibious tilt rotor unmanned aerial vehicle of the present utility model comprises: fuselage 1, pontoon 2, wing 3, first rotor 4 and elevator 5. The pontoons 2 are symmetrically arranged on two sides of the bottom of the machine body 1 through the landing gear 8, and the pontoons 2 are made of light composite materials so as to provide stability and water sliding capacity and realize that the unmanned aerial vehicle slides on the water surface. Further, the bottom of the landing gear 8 is fixedly connected with the pontoon 2 through bolts, and the top of the landing gear 8 is detachably connected with the bottom of the machine body 1 through a quick-dismantling assembly. Further, in this embodiment, quick detach subassembly comprises pull rod, spring and fixing base, and the fixing base carries out bolted connection with undercarriage 8, wears to be equipped with the pull rod on the fixing base, and the pull rod periphery is equipped with the spring, through drawing the pull rod, can realize undercarriage 8 quick assembly disassembly on fuselage 1, realizes flotation pontoon 2 at fuselage 1 bottom quick assembly disassembly.
As shown in fig. 1 and 2, wings 3 are symmetrically arranged at two side parts of the fuselage 1, a first rotor wing 4 is upwards installed on the wings 3, and the first rotor wing 4 can tilt by an angle; the elevator 5 and the second rotor 7 installed downwards are installed at the tail of the fuselage 1, so that the stability of taking off and landing of the unmanned aerial vehicle is improved.
In this embodiment, through combining fixed wing aircraft and rotor unmanned aerial vehicle, will have rotor that can tilt angle and install additional on fixed wing unmanned aerial vehicle, formed new rotor unmanned aerial vehicle that tilts, can realize the function that the vertical take off and land and fly forward fast through the transformation rotor mode, both had advantages such as fixed wing cruise speed is fast, the duration of a journey, have rotor unmanned aerial vehicle take off and land in a flexible way again, require advantages such as low to the deployment place. Meanwhile, the buoy is additionally arranged on the rotor wing unmanned plane to obtain the tilting rotor wing unmanned plane with the buoy, when the endurance time is required to be prolonged, the buoy can be directly utilized to float and stay on the water surface, when the floating state is required to be separated, the surrounding situation is rapidly responded, the rapid response is realized by controlling the tilting angle of the rotor wing to adopt different take-off and landing modes, the tilting angle of the rotor wing is controlled to keep the rotor wing to face upwards, the vertical take-off and landing can be completed, the wing surface of the rotor wing can be forwards changed into a fixed wing mode to fly after the preset height is reached, the flying speed is higher, the fixed wing mode can also be directly used, and the floating acceleration is carried out on the water surface by utilizing the buoy until the take-off speed is reached, and the medium-crossing take-off is completed.
In this embodiment, the first rotor 4 is connected to a tilting mechanism 6 and a motor (not shown), respectively. The motor is installed upwards on wing 3, and the motor is used for driving first rotor 4 rotation. The tilting mechanism 6 is fixed on the wing 3 and is connected with the first rotor wing 4, and the tilting mechanism 6 is used for driving the first rotor wing 4 to tilt so as to meet the tilting requirement of the first rotor wing 4, avoid the influence of splash on a motor in the process of water skiing, and reduce the possibility of contact between the blades of the first rotor wing 4 and the water surface under the complex sea condition.
In this embodiment, a battery (not shown) is mounted on the inner side of the front portion of the body 1, and a flight control device (not shown) is mounted on the inner side of the upper portion of the body 1. The battery is used for providing electric energy for motor driving, flight control devices and the like. The flight control device is used for measuring the calculated gesture to generate control quantity to adjust the flight gesture, measuring the flight state such as speed, altitude and position, monitoring the flight state and running the flight control algorithm. Through increasing unmanned aerial vehicle's waterproof performance to improve battery and flight control device's safety in utilization.
In this embodiment, based on the consideration of reducing the influence of sea waves on the unmanned aerial vehicle, the situation that the blades of the first rotor wing 4 touch water in a large amount, which may be caused by wave splashing, is avoided, and the bottom of the pontoon 2 is designed to be in a double-concave shape. The similar sliding surface with lower curvature is also used on the rear body of the pontoon 2 to reduce the water-leaving speed and inhibit splashing from affecting the main body 1 and the first rotor wing 4, the pontoon is designed into the shape in fig. 3, and pontoon selection work is completed according to the maximum take-off weight, the gravity center, the buoyancy reserve coefficient and the like of the unmanned aerial vehicle.
Further, in this embodiment, first, on the basis of satisfying the static floating of the unmanned aerial vehicle on water, the influence of the pontoon on the flight performance, the water surface mobility and the aircraft safety of the unmanned aerial vehicle is considered, so as to satisfy the following two requirements:
(1) The pontoon displacement needs to be suitable, prevents rotor wing tip contact water under the condition of having crosswind and wave interference.
(2) The bottom of the pontoon has good hydrodynamic appearance and hydrodynamic appearance, and the whole appearance has good aerodynamic appearance.
According to archimedes principle, the water displacement when unmanned aerial vehicle takes off satisfies at least:
wherein: g is the maximum weight of the unmanned aerial vehicle, ρ is the fresh water density, 1000kg/m 3 。
In this embodiment, the maximum takeoff weight of the rotary-wing drone is designed to be 8kg, and therefore,
considering diversified operation environments of the amphibious unmanned aerial vehicle, the buoyancy provided by the pontoon is larger than the maximum weight of the whole machine, and the corresponding buoyancy reserve number is calculated as follows:
wherein: v (V) p Is the volume of the pontoon.
Taking k=1 within an acceptable range, the displacement per buoy should be:
wherein: v (V) p1 V p2 The drainage volumes of the left floating barrel and the right floating barrel of the machine body are respectively the same, and the same stress in the static floating state can be regarded as the same drainage volume.
In combination with the overall layout characteristics of the unmanned aerial vehicle, in order to weaken splash generated in the running acceleration process, a pontoon shape with the bilge width of 7.38cm is selected, and the pontoon shape is approximately 7.5cm wide for convenient calculation, so that the outline dimension of the pontoon 2 can be calculated:
wherein: l is the length of the pontoon 2, H is the height of the pontoon 2, B is the width of the pontoon 2, L v For pontoon 2 precursor length, L m Is the length of the rear body of the pontoon 2.
By integrating pontoon element calculation, buoyancy analysis and unmanned aerial vehicle performance parameter analysis, pontoon parameters are designed to meet the design requirement of the cross-medium unmanned aerial vehicle shown in table 1,
TABLE 1 pontoon characterization parameters for a rotary-wing unmanned aerial vehicle in this embodiment
The stability and the flight performance of the unmanned aerial vehicle can be influenced after the pontoon 2 is installed, the distance between the pontoons is adjusted, the transverse longitudinal installation position is adjusted, the movement effect of the unmanned aerial vehicle and the structural strength of the pontoon can be guaranteed when the unmanned aerial vehicle slides on water, the relation between the pontoon 2 and the airframe 1 can be divided into longitudinal and transverse two aspects, the relation between the gravity center of the unmanned aerial vehicle and the broken steps of the pontoon is considered in the longitudinal direction, the unmanned aerial vehicle is guaranteed to be in a transverse stable state in the transverse direction, and the phenomenon that the unmanned aerial vehicle is transversely inclined and cannot recover when transverse incoming wind is avoided, so that the unmanned aerial vehicle is overturned is caused. The transverse arrangement of the pontoon 2 is related to the wing span length of the wing 3, and can be considered to meet the transverse lateral static stability requirement in a preset range, and the relation between the transverse arrangement of the pontoon 2 at the bottom of the fuselage 1 and the wing span length of the wing 3 is as follows:
0.15b<D<0.22b
wherein: b is the span length of the wing 3, and D is the distance between the two pontoons 2.
The longitudinal safety requires that the height of the blade from the water surface is not less than 0.3m, and through physical measurement, when the blade flies in a fixed wing mode, the distance between the blade and the upper part of the pontoon is 0.44m, namely, the blade does not contact the water surface after the pontoon is fully immersed in water, and the design requirement is met.
While the utility model has been described with reference to preferred embodiments, it is not intended to be limiting. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present utility model or equivalent embodiments using the method and technical solution disclosed above without departing from the spirit and technical solution of the present utility model. Therefore, any simple modification, equivalent substitution, equivalent variation and modification of the above embodiments according to the technical substance of the present utility model, which do not depart from the technical solution of the present utility model, still fall within the scope of the technical solution of the present utility model.
Claims (9)
1. An amphibious tiltrotor unmanned aerial vehicle, comprising: the aircraft comprises a fuselage (1), pontoons (2), wings (3), a first rotor wing (4) and elevators (5); the pontoons (2) are symmetrically arranged at two sides of the bottom of the machine body (1) and are used for realizing that the unmanned aerial vehicle slides on the water surface; wings (3) are symmetrically arranged at two side parts of the machine body (1), the first rotor wing (4) is upwards arranged on the wings (3), and the first rotor wing (4) can tilt at an angle; an elevator (5) is arranged at the tail part of the machine body (1);
the relation between the transverse arrangement position of the pontoon (2) at the bottom of the fuselage (1) and the span length of the wing (3) is as follows:
0.15b<D<0.22b
wherein: b is the span length of the wing (3), and D is the interval between the two pontoons (2).
2. The amphibious tilting rotor unmanned aerial vehicle according to claim 1, wherein the first rotor (4) is connected with a tilting mechanism (6) and a motor, the tilting mechanism (6) and the motor are mounted on the wing (3), the motor is used for driving the first rotor (4) to rotate, and the tilting mechanism (6) is used for driving the first rotor (4) to tilt.
3. The amphibious tiltrotor unmanned aerial vehicle according to claim 1, further comprising a second rotor (7), the second rotor (7) being mounted on the tail of the fuselage (1).
4. The amphibious tiltrotor unmanned aerial vehicle according to claim 1, further comprising a landing gear (8), the landing gear (8) being adapted to connect the pontoon (2) with the bottom of the fuselage (1).
5. The amphibious tiltrotor unmanned aerial vehicle according to claim 4, wherein the landing gear (8) is detachably connected with the bottom of the fuselage (1), and the landing gear (8) is fixedly connected with the pontoon (2).
6. The amphibious tiltrotor unmanned aerial vehicle according to any of claims 1 to 4, wherein the fuselage (1) has a battery mounted therein.
7. The amphibious tiltrotor unmanned aerial vehicle according to any of claims 1 to 4, wherein the fuselage (1) is internally fitted with a flight control device.
8. The amphibious tiltrotor unmanned aerial vehicle according to any of claims 1 to 4, wherein the pontoon (2) has a biconcave structure at the bottom.
9. The amphibious tiltrotor unmanned aerial vehicle according to any of claims 1 to 4, wherein the pontoon (2) is made of a composite material.
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| CN202222523247.4U CN219133766U (en) | 2022-09-21 | 2022-09-21 | Unmanned aerial vehicle with amphibious tilting rotor |
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| CN202222523247.4U CN219133766U (en) | 2022-09-21 | 2022-09-21 | Unmanned aerial vehicle with amphibious tilting rotor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117602070A (en) * | 2023-12-04 | 2024-02-27 | 武汉科技大学 | Flapping wing aircraft power system and flapping wing aircraft thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117602070A (en) * | 2023-12-04 | 2024-02-27 | 武汉科技大学 | Flapping wing aircraft power system and flapping wing aircraft thereof |
| CN117602070B (en) * | 2023-12-04 | 2024-05-14 | 武汉科技大学 | Flapping wing aircraft power system and flapping wing aircraft thereof |
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