WO2017025060A1 - 能垂直起降的固定翼飞机及其飞行控制方法 - Google Patents

能垂直起降的固定翼飞机及其飞行控制方法 Download PDF

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Publication number
WO2017025060A1
WO2017025060A1 PCT/CN2016/094826 CN2016094826W WO2017025060A1 WO 2017025060 A1 WO2017025060 A1 WO 2017025060A1 CN 2016094826 W CN2016094826 W CN 2016094826W WO 2017025060 A1 WO2017025060 A1 WO 2017025060A1
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WIPO (PCT)
Prior art keywords
fixed
vertical
support arm
wing aircraft
storage space
Prior art date
Application number
PCT/CN2016/094826
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English (en)
French (fr)
Inventor
刘十一
谢陵
Original Assignee
刘十一
谢陵
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Filing date
Publication date
Application filed by 刘十一, 谢陵 filed Critical 刘十一
Priority to AU2016305704A priority Critical patent/AU2016305704B2/en
Priority to CA3007728A priority patent/CA3007728C/en
Priority to ES16834684T priority patent/ES2928819T3/es
Priority to US15/751,486 priority patent/US20180237132A1/en
Priority to EP16834684.9A priority patent/EP3335989B1/en
Publication of WO2017025060A1 publication Critical patent/WO2017025060A1/zh
Priority to AU2018100468A priority patent/AU2018100468A4/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
    • B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/30—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with provision for reducing drag of inoperative rotor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/20—Vertical take-off and landing [VTOL] aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
    • B64C2027/8236—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft including pusher propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Definitions

  • the invention belongs to the field of aircrafts, and in particular relates to a fixed-wing aircraft capable of vertical take-off and landing and a flight control method thereof.
  • the V22 Osprey aircraft in the United States adopts a technical scheme of tilting the rotor.
  • the aircraft is in rotor mode, and vertical take-off and landing can be performed.
  • the rotor Tilt to its plane of rotation parallel to the ground, at which point the power of the rotor acts as propulsion.
  • the tailstock take-off scheme which is to tilt the whole aircraft.
  • the rotation plane of the rotor is parallel to the ground.
  • the rotor provides the tensile force against gravity, and the aircraft can be vertically moved. Down and hover, when the plane is parallel to the ground, the plane of rotation of the rotor is perpendicular to the ground, and the force generated by the rotor acts as propulsion. At this time, the aircraft can cruise at high speed.
  • the object of the present invention is to provide a fixed-wing aircraft capable of vertical take-off and landing and a flight control method thereof.
  • the invention can be operated in a high-speed cruise mode or in a vertical take-off and landing mode, and energy efficiency can be achieved in both modes. The highest working condition.
  • a fixed-wing aircraft capable of taking off and landing vertically, including a fuselage, having a fixed wing and a propeller on the fuselage, having a storage space in the fuselage, and an opening communicating with the storage space on the fuselage, in the fuselage There is also a movable door corresponding to the opening position, and a retractable supporting mechanism and a retracting driving mechanism for retracting and supporting the retracting and supporting mechanism are arranged in the fuselage, and the outer end of the retracting supporting mechanism is installed.
  • the fixed-wing aircraft has an unfolded state and a stored state; in the unfolded state, the movable door opens the storage space, and the vertical lifter is located outside the storage space under the action of the retracting support mechanism; The vertical lifter is located within the storage space under the action of the retracting support mechanism, and the movable door closes the storage space.
  • the vertical lifters are at least two, and in the unfolded state, at least two of the vertical lifters are located on opposite sides of the fuselage.
  • a horizontal rotating shaft is disposed on the air body, and the propeller is mounted on the air body through the rotating shaft.
  • the retracting support mechanism comprises a first brace, wherein the middle portion is movably connected to the fuselage through an articulated shaft, and at least two of the vertical lifters are mounted on both ends of the first brace.
  • the retracting support mechanism further includes a second brace, the middle of the first brace and the second brace being articulated by the hinge shaft and forming an "X" shape, the first brace and the second brace The vertical end is respectively mounted with the vertical lifter, and the aforementioned hinge shaft is connected to the fuselage.
  • first support arm and the second support arm are respectively located on opposite sides of the hinge shaft.
  • first support arm and the second support arm each include a hinge portion and a first end arm and a second end arm.
  • the first support arm and the second support arm are hinged through respective hinge portions, and the first end The arm and the second end arm are respectively located at opposite ends of the hinge; the extension lines of the first end arm and the second end arm of the first arm are respectively located on opposite sides of the hinge shaft, and the second arm An extension line of the first end arm and the second end arm are respectively located on opposite sides of the hinge shaft; and an extension line of the first end arm of the first support arm and an extension of the first end arm of the second support arm
  • the wires are respectively located on opposite sides of the hinge shaft; the extension of the second end arm of the first arm and the extension of the second end arm of the second arm are respectively located on opposite sides of the hinge shaft.
  • the hinge portion of the first support arm is located above the hinge portion of the second support arm, and the first support arm and the second support arm each have an upper portion and a lower portion;
  • the vertical lifter includes a mounting portion and a rotor. The rotor is fixed to the mounting portion, and the two vertical lifters on the first support arm are mounted on a lower portion of the first support arm through a mounting portion thereof, and the two vertical lifters on the second support arm It is attached to the upper portion of the second arm by its mounting portion.
  • a limiting portion is disposed between the first support arm and the second support arm, and the first support arm and the second support arm are in a maximum deployed state at the first limit position.
  • a first dial and a second dial are respectively disposed on the first support arm and the second support arm, and the first dial and the second dial are respectively located on opposite sides of the hinge shaft .
  • the retractable driving mechanism includes a rotating body, a sliding body and a guiding body, and the guiding body and the rotating body are all mounted on the body, the sliding body is slidingly matched with the guiding body, and a sliding groove is arranged on the sliding body.
  • the rotating body is provided with a finger, the finger is offset from the rotating axis of the rotating body, and the finger is inserted into the dial; the first dialing portion and the second dialing portion are provided on the sliding body, and the first dialing pin The two dials are respectively inserted into the first dialing portion and the second dialing portion.
  • the hinge shaft includes an outer shaft and an inner shaft, and the outer shaft is sleeved on the inner shaft, the first support arm is fixed to the outer shaft, and the second support arm is fixed to the inner shaft.
  • the movable door is two, respectively located on opposite sides of the fuselage.
  • the fixed wing is located at two sides of the fuselage, the hinge shaft is located at a rearward position of the fixed wing, and in the unfolded state, two front vertical lifters are located in front of the fixed wing .
  • a fixed-wing aircraft capable of taking off and landing vertically, including a fuselage, having a fixed wing and a propeller on the fuselage, a storage space in the fixed wing, and an opening communicating with the storage space on the fixed wing, in the fixed wing There is also a movable door corresponding to the opening position, and a receiving and supporting mechanism is arranged in the fixed wing, and a retracting driving mechanism for retracting and driving the receiving and supporting mechanism is provided, and the outer end of the receiving and supporting mechanism is installed.
  • the fixed-wing aircraft has an unfolded state and a stored state; in the unfolded state, the movable door opens the storage space, and the vertical lifter is located outside the storage space under the action of the retracting support mechanism; The vertical lifter is located within the storage space under the action of the retracting support mechanism, and the movable door closes the storage space.
  • the two fixed wings are respectively disposed on two opposite sides of the fuselage, and two vertical lifters are mounted on the fixed wings by the receiving and supporting mechanism.
  • a horizontal rotating shaft is disposed on the body, and the pusher is movably mounted on the body through the rotating shaft.
  • a flight control method for a fixed-wing aircraft capable of vertical take-off and landing.
  • the fixed-wing aircraft When the fixed-wing aircraft is lifted or hovered, the movable door is opened, and the retracting support mechanism is deployed under the action of the retracting drive mechanism, and the vertical lifter is located outside the storage space.
  • the vertical lifter works; when the fixed-wing aircraft performs high-speed cruising, the retracting support mechanism and the vertical lifter are placed in the storage space under the action of the retracting drive mechanism, the movable door is closed, and the propeller is operated.
  • the vertical lifter In the unfolded state, at least two of the vertical lifters are located on opposite sides of the fuselage, and the vertical lifter provides lifting force to the aircraft from both sides of the fuselage in a vertical lift or hover state. If only two vertical lifters are located on either side of the fuselage, the thruster is required to use a tiltable structure for attitude control in the pitch direction.
  • the retracting support mechanism comprises a first support arm, and a vertical lifter is installed at both ends thereof, the structure is simple, and two vertical lifters are respectively installed at two ends of the first support arm, which can better meet the lifting Strength requirements.
  • the middle portions of the first support arm and the second support arm are articulated by the hinge shaft and form an "X" shape, and the structure has the following advantages:
  • first support arm and the second support arm are parallel to each other, the first support arm and the second support arm are in a stored state, the first support arm and the second support arm (and the first support arm and the second support The vertical lifter on the arm is located in the storage space.
  • first support arm and the second support arm are at an angle, the two are deployed, and the vertical lifter is located outside the storage space; the "X"-shaped structure is convenient for storage and deployment.
  • the structure is very simple;
  • the first support arm and the second support arm are hinged and form an "X" shape, and a large unfolding plane can be formed when unfolding, and the space occupied during storage is smaller and the structure is compact.
  • the first support arm and the second support arm each include a hinge portion, a first end arm and a second end arm, and each of the first end arm and the second end arm are located on two sides of the hinge shaft, so as to ensure the first The support arm and the second support arm are received In the nano state, they are in a state of being parallel to each other, so as to avoid excessive storage and occupy too much space.
  • first support arm and the second support arm have corresponding thicknesses, when the two are hinged to each other, the first support arm and the second support arm may not be in an absolute plane, which may affect the vertical lifting of the aircraft. Stability; at the time of installation, two of the vertical lifters on the first brace are mounted to a lower portion of the first brace through a mounting portion thereof, and the two vertical lifters on the second brace It is installed on the upper part of the second support arm through its mounting part, so that the four vertical lifters can be located at the same horizontal plane, and the stability of the aircraft is better.
  • a limiting portion is disposed between the first support arm and the second support arm, and the position of the first support arm and the second support arm can be limited by the limit portion to ensure the flight operation. reliability.
  • the first and second pins are respectively disposed on the first arm and the second arm, and the retractable driving mechanism can act on the first and second pins, because the first pin
  • the second pins are respectively located on opposite sides of the hinge shaft, and the first arms are reversely rotated with respect to the second arms to realize unfolding or storage.
  • the retracting drive mechanism comprises a rotating body, a sliding body and a guiding body.
  • the dialing finger moves the sliding body to move, and the sliding body moves in a horizontal direction due to the sliding fit of the sliding body relative to the guiding body, and then passes The first dial and the second dial drive the first arm and the second arm to expand or close.
  • the hinge shaft comprises an outer shaft and an inner shaft, wherein the outer shaft and the inner shaft are respectively fixed to the first support arm and the second support arm, and the sleeve structure of the inner shaft and the outer shaft is larger, and the force is reduced.
  • the possibility of skewing and twisting between the first brace and the second brace is critical to ensure the reliability of the hinge.
  • Two movable doors are respectively located on opposite sides of the fuselage, which can conveniently accommodate and unfold the support mechanism.
  • the storage space, the movable door, the retracting support mechanism, and the like may be disposed on the fixed wing, and the principle is the same as that of the above structure (the storage space, the movable door, the retracting support mechanism, etc.) After the program, it can also leave more space for the fuselage to make the structure more compact.
  • the storage space, the movable door, the retracting support mechanism and the like can also be arranged on the fixed wing, and the following two refinement schemes can be adopted:
  • the vertical lifter is arranged on the fixed wing on each side, so that the balance wing aircraft has better balance when lifting or hovering;
  • One of the vertical lifters is mounted on each side of the aircraft.
  • the thruster is mounted on the fuselage and fixed.
  • the propeller is used as the propulsion power during high-speed cruising.
  • the propeller is rotated to the vertical axis, and the propeller provides the pitch attitude control capability.
  • FIG. 1 is a bottom view of a fixed-wing aircraft capable of vertical take-off and landing during high-speed cruising according to Embodiment 1 of the present invention
  • Figure 2 is a structural view of Figure 1 after hiding the movable door
  • FIG. 3 is an upper view of a fixed-wing aircraft capable of vertical take-off and landing as it is vertically ascending and descending or hovering according to the first embodiment of the present invention
  • FIG. 4 is a bottom view of a fixed-wing aircraft capable of vertically taking off and landing in vertical take-off or hovering according to the first embodiment of the present invention
  • Figure 5 is a disassembled structural view of the retractable support mechanism and the retractable drive mechanism in the first embodiment of the present invention
  • Figure 6 is a developed state view of the retractable support mechanism and the retractable drive mechanism in the first embodiment of the present invention
  • Figure 7 is a view showing a storage state of the retractable support mechanism and the retractable drive mechanism in the first embodiment of the present invention
  • Figure 8 is a view showing the mounting structure of the retracting support mechanism and the vertical lifter in the stored state in the first embodiment of the present invention
  • Figure 9 is a structural view showing a movable door in a stored state in the first embodiment of the present invention.
  • Figure 10 is a structural view showing the movable door in an unfolded state in the first embodiment of the present invention.
  • Figure 11 is a vertical wing landing or hovering of a fixed-wing aircraft capable of vertical take-off and landing according to the second embodiment of the present invention.
  • Figure 12 is a side elevational view of the fixed-wing aircraft capable of vertical take-off and landing as shown in the second embodiment of the present invention during vertical take-off or landing;
  • Figure 13 is a side view of a fixed-wing aircraft capable of vertical take-off and landing during high-speed cruising according to Embodiment 2 of the present invention
  • Figure 14 is a top plan view of a fixed-wing aircraft capable of vertical take-off and landing as it is vertically ascending and descending or hovering according to a third embodiment of the present invention
  • Figure 15 is a top view of the fixed-wing aircraft capable of vertical take-off and landing as shown in the fourth embodiment of the present invention when it is vertically taken off or hovered;
  • a fixed-wing aircraft capable of vertical take-off and landing
  • the aircraft adopts a conventional layout, which includes a fuselage 10, and a fixed wing 11 is provided at the front of the fuselage 10 at the rear of the fuselage 10 a horizontal tail 15 and a vertical tail 16 are provided, and a propeller 12 is disposed on the rear side of the vertical tail 16 on the fuselage 10,
  • the body 10 is provided with a storage space 13
  • the body 10 is provided with an opening communicating with the storage space 13
  • the movable door 14 is further provided with a movable door 14 corresponding to the opening position in the body 10 is provided with a retractable support mechanism and a retractable drive mechanism 30 for retracting and supporting the retractable support mechanism, and a vertical lifter 40 is mounted on the outer end of the retractable support mechanism;
  • the fixed-wing aircraft has an unfolded state and a stored state.
  • the movable door 14 opens the storage space 13 , and the vertical lifter 40 is located outside the storage space 13 under the action of the storage and support mechanism; in the storage state, the vertical lifter 40 functions in the storage and support mechanism The lower portion is located within the storage space 13, and the movable door 14 closes the storage space 13.
  • the movable door 14 is two, which are respectively located on opposite sides of the body 10.
  • a door driving mechanism 142 is further disposed on the body 10, and a driving link 143 and a driven link 144 are disposed between the movable door 14 and the door driving mechanism 142.
  • the driving link 143 has an "L" shape, and the movable door 14 A skeleton 145 is disposed thereon, the driven link 144 is coupled to the skeleton 145, and the movable door 14 is movably coupled to the body 10 via a hinge 141.
  • the retracting support mechanism includes a first support arm 21 and a second support arm 22, and the middle portions of the first support arm 21 and the second support arm 22 are articulated by the hinge shaft 23 and form an "X" shape, and the first support The vertical end of the arm 21 and the second arm 22 are respectively mounted with the vertical lifter 40, that is, a total of four vertical lifters 40, and the hinge shaft 23 is connected to the body 10.
  • the first support arm 21 and the second support arm 22 each include a hinge portion 24 , a first end arm 25 , a second end arm 26 , a first support arm 21 , and a second support
  • the arms 22 are hinged by respective hinges 24, the first end arms 25 and the second end arms 26 are respectively located at opposite ends of the hinge portion 24; the first end arms 25 and the second end arms 26 of the first arms 21
  • the extension lines are respectively located on opposite sides of the hinge shaft 23, and the extension lines of the first end arm 25 and the second end arm 26 of the second support arm 22 are respectively located on opposite sides of the hinge shaft 23;
  • the extension line of the first end arm 25 of the first support arm 21 and the extension line of the first end arm 25 of the second support arm 22 are respectively located on opposite sides of the hinge shaft 23;
  • the first support arm 21 An extension of the two end arms 26 and an extension of the second end arms 26 of the second arms 22 are located on opposite sides of the hinge shaft 23, respectively.
  • the hinge portion 24 of the first support arm 21 is located above the hinge portion 24 of the second support arm 22, and the first support arm 21 and the second support arm 22 have an upper portion and a lower portion; the vertical lifter 40
  • the mounting portion 41 and the rotor 42 are included, and the rotor 42 is fixed to the mounting portion 41.
  • the two arms on the first arm 21 The vertical lifter 40 is mounted on the lower portion of the first support arm 21 by its mounting portion 41, and the two vertical lifters 40 on the second support arm 22 are mounted to the second support arm 22 through the mounting portion 41 thereof.
  • Upper part see Figure 8 for details).
  • a first dial pin 211 and a second dial pin 221 are respectively disposed on the first support arm 21 and the second support arm 22, and the first dial pin 211 and the second dial pin 221 are respectively located on the hinge shaft 23 Two opposite sides.
  • the first dial 211 and the second dial 221 have a limit function at the same time. In the limit state, the first arm 21 and the second arm 22 are in a maximum deployed state.
  • the retractable drive mechanism 30 includes a rotating body 31, a sliding body 32, and a guiding body 33.
  • the guiding body 33 and the rotating body 31 are both mounted on the body 10.
  • the sliding body 32 is slidably engaged with the guiding body 33.
  • 32 is provided with a dial 323, and the rotating body 31 is provided with a finger 311.
  • the finger 311 is offset from the rotation axis of the rotating body 31, and the finger 311 is inserted into the dial 323; the first dial is provided on the sliding body 32.
  • the first dial 211 and the second dial 221 are inserted into the first dial 321 and the second dial 322, respectively.
  • the hinge shaft 23 includes an outer shaft 231 and an inner shaft 232.
  • the outer shaft 231 is sleeved on the inner shaft 232.
  • the first arm 21 is fixed to the outer shaft 231, and the second arm 22 and the inner shaft 232 are fixed. Secured.
  • the fixed wing 11 is located at two sides of the fuselage 10, and the hinge shaft 23 is located at a rearward position of the fixed wing 11. In the unfolded state, two front vertical lifters 40 are located at the fixed wing 11 The front position.
  • the retracting support mechanism is deployed under the action of the retracting drive mechanism 30, the vertical lifter 40 is located outside the storage space 13, and the vertical lifter 40 is operated. At this time, the aircraft can be provided with a large pulling force in the vertical direction; when the fixed-wing aircraft performs high-speed cruising, the retracting support mechanism and the vertical lifter 40 are placed in the storage space 13 by the retracting drive mechanism 30, and the movable door 14
  • the propeller 12 is closed, the high aerodynamic efficiency of the fixed wing 11 can be fully utilized, and the energy efficiency is high and the range is long.
  • the retracting support mechanism includes a first support arm 21, and a vertical lifter 40 is mounted at both ends thereof.
  • the structure is simple, and two vertical lifters 40 are respectively mounted on the two ends of the first support arm 21, which can be compared. Good to meet the strength requirements when upgrading.
  • the middle portions of the first support arm 21 and the second support arm 22 are articulated by the hinge shaft 23 and form an "X" shape, and the structure has the following advantages:
  • first support arm 21 and the second support arm 22 are parallel to each other, the first support arm 21 and the second support arm 22 are in a stored state, and the first support arm 21 and the second support arm 22 (and the first support arm 22) Both the support arm 21 and the vertical lifter 40) on the second support arm 22 are located in the storage space 13.
  • first support arm 21 and the second support arm 22 are at an angle, the two are deployed, and the vertical lifter 40 is located at the storage. Outside the space 13; the "X"-shaped structure is convenient to store and unfold, and the structure is very simple;
  • the bending moment is large, and the two are hinged and form an "X" shape, which can better ensure the first support arm 21 and the first The bending strength and rigidity of the two arms 22 at the hinge;
  • the first support arm 21 and the second support arm 22 are hinged and form an "X" shape, and a large deployment plane can be formed when deployed, and the space occupied during storage is smaller and the structure is compact.
  • the first arm 21 and the second arm 22 each include a hinge portion 24 and a first end arm 25 and a second end arm 26.
  • the first end arm 25 and the second end arm 26 are both located on the hinge shaft 23. On both sides, it is ensured that the first support arm 21 and the second support arm 22 are in a state of being parallel to each other in the stored state, thereby avoiding excessive storage and occupying excessive space.
  • first support arm 21 and the second support arm 22 have corresponding thicknesses, when the two are hinged to each other, the first support arm 21 and the second support arm 22 may not be in an absolute plane, which may affect the aircraft. Stability during vertical lifting; at the time of installation, the two vertical lifters 40 on the first support arm 21 are mounted to the lower portion of the first support arm 21 via the mounting portion 41 thereof, and the second support arm 22 The two upper vertical lifters 40 are mounted on the upper portion of the second support arm 22 through the mounting portion 41 thereof, so that the four vertical lifters 40 are all located at the same horizontal plane, and the stability of the aircraft is better.
  • the first pin 21 and the second pin 22 are respectively disposed on the first arm 21 and the second arm 22, and the second driving pin 30 can act on the first pin 211 and the second pin. 221, since the first dial 211 and the second dial 221 are respectively located on opposite sides of the hinge shaft 23, the first arm 21 rotates in the opposite direction with respect to the second arm 22, thereby achieving deployment or storage.
  • the retractable drive mechanism 30 includes a rotating body 31, a sliding body 32, and a guiding body 33.
  • the rotating body 31 When the rotating body 31 is placed, the finger 311 moves the sliding body 32 to move, and since the sliding body 32 is slidably engaged with the guiding body 33, The sliding body 32 is moved in the horizontal direction, and the first arm 21 and the second arm 22 are driven to expand or close by the first dial 211 and the second dial 221 .
  • the hinge shaft 23 includes an outer shaft 231 and an inner shaft 232.
  • the outer shaft 231 and the inner shaft 232 are respectively fixed to the first support arm 21 and the second support arm 22, and the inner shaft 232 and the outer shaft 231 are sleeved.
  • the force receiving surface is larger, and the possibility of skewing and twisting between the first arm 21 and the second arm 22 is reduced, and the structure is essential for ensuring the reliability of the hinge.
  • Two movable doors 14 are respectively located on opposite sides of the fuselage 10, so that the storage and deployment of the support mechanism can be conveniently accommodated.
  • the vertical lifters 40 are respectively disposed on two opposite sides of the body 10 , and the horizontal shaft 121 is disposed on the body 10 .
  • the pusher 12 is mounted on the body 10 via the rotating shaft.
  • a vertical lifter 40 is disposed on each side of the fuselage 10, and in order to improve the balance of the fixed-wing aircraft during lifting or hovering, the propeller 12 is movably mounted on the fuselage through the horizontal rotating shaft 121. 10, when the fixed-wing aircraft performs high-speed cruising, the propeller 12 is used as the propulsion power during high-speed cruising, and when the fixed-wing aircraft performs lifting or hovering, the propeller 12 is rotated to the vertical axis, and the propeller 12 is used as Pitch control mechanism and assist in lifting power.
  • the fixed-wing aircraft adopts a duck-type layout, and the rest of the structure is similar to that of the first embodiment, and the principle is the same, and details are not described herein.
  • the embodiment adopts a flying wing layout structure, and the fixed wing is integrated with the fuselage, which is called a flying wing.
  • the propeller 12 is mounted on the flying wing, and the fixed wing 11 is provided with the storage space 13 .
  • the movable opening 14 is also provided with a movable door 14 on the fixed wing 11.
  • the rest of the structure is similar to that of the first embodiment, and the principle is the same, and after adopting the solution, more space can be reserved to make the structure more compact.

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  • Mechanical Engineering (AREA)
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Abstract

一种能垂直起降的固定翼飞机及其飞行控制方法，该固定翼飞机包括机身（10）。在机身（10）上设有固定翼（11）及推进器（12）。在机身（10）内设有收纳空间（13）。在机身（10）上设有与收纳空间（13）相通的开口。在机身（10）上还设有活动门（14）。该活动门（14）与开口位置相对应。在机身（10）内设有收放支撑机构以及对收放支撑机构进行收放驱动的收放驱动机构（30）。收放支撑机构的外端安装有垂直升降器（40）。该固定翼飞机具有展开状态及收纳状态。在展开状态下，活动门（14）将收纳空间（13）打开，且垂直升降器（40）在收放支撑机构作用下位于收纳空间（13）之外。在收纳状态下，垂直升降器（40）在收放支撑机构作用下位于收纳空间（13）之内，且活动门（14）将收纳空间（13）关闭。该固定翼飞机可以按高速巡航模式运行，也可以按垂直起降模式运行，并且两种模式下均能达到能量效率最高的工作状态。

Description

能垂直起降的固定翼飞机及其飞行控制方法 技术领域
本发明属于飞行器领域，具体涉及一种能垂直起降的固定翼飞机及其飞行控制方法。
背景技术
众所周知，固定翼飞机利用机翼相对气流运动产生升力抵抗重力，具有飞行速度快、航程远、载重大、能效高等优点，其缺点是需要长距离跑道，无法在空间实现悬停；而旋翼飞机利用旋翼所产生的拉力抵抗重力，通过控制旋翼平面与水平面倾斜角来提供飞机水平运动的动力，具有结构简单、可垂直起降、可空间悬停的优点，其缺点是速度慢、航程短、载重小、能效低。
因此，很多人一直希望能结合固定翼飞机和旋翼飞机的优点，在这些方面人们也进行了不少尝试：
美国的V22鱼鹰飞机是采用了倾转旋翼的技术方案，当旋翼的旋转平面与重量方向垂直时，飞机处于旋翼模式，此时可以进行垂直起降与悬停；当飞机需要水平运动时，旋翼倾转至其旋转平面与地面平行，此时旋翼的动力作为推进动力。
另外还有一种方式采用尾座式起飞方案，即将飞机整体倾转，当飞机整体垂直于地面时，旋翼的旋转平面与地面平行，旋翼提供的是抵抗重力的拉力，此时飞机可以进行垂直起降及悬停，当飞机平行于地面时，旋翼的旋转平面与地面垂直，旋翼所产生的力作为推进力，此时飞机可以进行高速巡航。
在蓄电池能量密度有限条件的制约下，如何提高飞机的载荷能力、留空时间和航程，成为我们所面临的一大问题，对于无人机领域更是如此，现有的设计，虽然解决了固定翼飞机垂直起降的问题，但仍旧不是能量效率最优的解决 方案，因为用于固定翼推进的旋翼和用于垂直起降的旋翼在能效方面有着完全相反的设计要求，用于固定翼推进的旋翼需要小直径、小桨距、小推力，而用于垂直起降的旋翼需要是大直径、小桨距、大推力，现有的倾转旋翼和尾座式的设计方案是兼顾推进与悬停而进行折中设计，导致二者的能量效率均无法达到最佳状态。
发明内容
本发明的目的在于提供一种能垂直起降的固定翼飞机及其飞行控制方法，本发明可以按高速巡航模式运行，也可以按垂直起降模式运行，并且两种模式下均能达到能量效率最高的工作状态。
其技术方案如下：
能垂直起降的固定翼飞机，包括机身，在机身上设有固定翼及推进器，在机身内设有收纳空间，在机身上设有与收纳空间相通的开口，在机身上还设有活动门，该活动门与开口位置相对应，在机身内设有收放支撑机构以及对收放支撑机构进行收放驱动的收放驱动机构，收放支撑机构的外端安装有垂直升降器；该固定翼飞机具有展开状态及收纳状态，在展开状态下，所述活动门将收纳空间打开，且垂直升降器在收放支撑机构作用下位于收纳空间之外；在收纳状态下，垂直升降器在收放支撑机构作用下位于收纳空间之内，且所述活动门将收纳空间关闭。
进一步的，所述垂直升降器为至少两个，在展开状态下，至少两个所述垂直升降器位于所述机身的两个相反侧。
进一步的，在所述机身上设有水平转轴，所述推进器通过该转轴活动的装设于所述机身上。
进一步的，所述收放支撑机构包括第一撑臂，其中部通过铰接轴与所述机身活动连接，至少两个所述垂直升降器安装于第一撑臂的两端。
进一步的，所述收放支撑机构还包括第二撑臂，第一撑臂与第二撑臂的中部通过所述铰接轴活动铰接并形成“X”状，第一撑臂、第二撑臂的外端分别安装有所述垂直升降器，前述铰接轴与所述机身连接。
进一步的，所述第一撑臂、第二撑臂分别位于所述铰接轴的两个相反侧。或者，
进一步的，所述第一撑臂、第二撑臂均包括有铰接部及第一端臂、第二端臂，第一撑臂、第二撑臂通过各自的铰接部相铰接，第一端臂、第二端臂分别位于铰接部的两个相反端；第一撑臂的第一端臂、第二端臂的延长线分别位于所述铰接轴的两个相反侧，第二撑臂的第一端臂、第二端臂的延长线分别位于所述铰接轴的两个相反侧；且，第一撑臂的第一端臂的延长线、第二撑臂的第一端臂的延长线分别位于所述铰接轴的两个相反侧；第一撑臂的第二端臂的延长线、第二撑臂的第二端臂的延长线分别位于所述铰接轴的两个相反侧。
进一步的，所述第一撑臂的铰接部位位于第二撑臂铰接部位的上方，所述第一撑臂及第二撑臂均具有上部及下部；所述垂直升降器包括安装部及旋翼，旋翼固定于安装部上，所述第一撑臂上的两个所述垂直升降器通过其安装部安装于第一撑臂的下部，所述第二撑臂上的两个所述垂直升降器通过其安装部安装于第二撑臂的上部。
进一步的，在所述第一撑臂、第二撑臂之间设有限位部，在第一限位部位置，所述第一撑臂、第二撑臂呈最大展开状态。
进一步的，在所述第一撑臂、第二撑臂上分别设有第一拨销、第二拨销，且第一拨销、第二拨销分别位于所述铰接轴的两个相反侧。
进一步的，所述收放驱动机构包括旋转体、滑动体及导向体，导向体及旋转体均安装于所述机身上，滑动体与导向体滑动配合，在滑动体上设有拨槽，旋转体上设有拨指，拨指偏离于旋转体的旋转轴心，拨指插入拨槽内；在滑动体上设有第一拨动部、第二拨动部，第一拨销、第二拨销分别插入第一拨动部、第二拨动部内。
进一步的，所述铰接轴包括外轴、内轴，外轴套设于内轴上，所述第一撑臂与外轴固接，所述第二撑臂与内轴固接。
进一步的，所述活动门为两个，分别位于所述机身的两个相反侧。
进一步的，所述固定翼位于所述机身的两侧，所述铰接轴位于所述固定翼靠后位置，在展开状态，前方的两个所述垂直升降器位于所述固定翼的前方位置。
能垂直起降的固定翼飞机，包括机身，在机身上设有固定翼及推进器，在固定翼内设有收纳空间，在固定翼上设有与收纳空间相通的开口，在固定翼上还设有活动门，该活动门与开口位置相对应，在固定翼内设有收放支撑机构以及对收放支撑机构进行收放驱动的收放驱动机构，收放支撑机构的外端安装有垂直升降器；该固定翼飞机具有展开状态及收纳状态，在展开状态下，所述活动门将收纳空间打开，且垂直升降器在收放支撑机构作用下位于收纳空间之外；在收纳状态下，垂直升降器在收放支撑机构作用下位于收纳空间之内，且所述活动门将收纳空间关闭。
进一步的，所述固定翼为两个，分别设于所述机身的两个相反侧，各固定翼上通过所述收放支撑机构安装有两个所述垂直升降器。
进一步的，所述垂直升降器为两个，在所述机身上设有水平转轴，所述推进器通过该转轴活动的装设于所述机身上。
能垂直起降的固定翼飞机的飞行控制方法，在固定翼飞机进行升降或悬停时，活动门打开，收放支撑机构在收放驱动机构的作用下展开，垂直升降器位于收纳空间之外，垂直升降器工作；在固定翼飞机进行高速巡航时，收放支撑机构及垂直升降器在收放驱动机构的作用下置于收纳空间内，活动门关闭，推进器工作。
需要说明的是：
前述的“第一、第二…”不代表具体的数量及顺序，仅仅是用于对名称的区分。
下面对本发明的优点或原理进行说明：
1、在固定翼飞机进行升降或悬停时，活动门打开，收放支撑机构在收放驱动机构的作用下展开，垂直升降器位于收纳空间之外，垂直升降器工作，此时能在垂直方向为飞机提供大的拉力；在固定翼飞机进行高速巡航时，收放支撑机构及垂直升降器在收放驱动机构的作用下置于收纳空间内，活动门关闭，推进器工作，此时可充分的利用固定翼的高气动效率，能效高，航程远。
2、在展开状态下，至少两个所述垂直升降器位于所述机身的两个相反侧，在垂直升降或悬停状态下，垂直升降器从机身两侧为飞机提供提升的拉力，如果只有两个垂直升降器位于机身两侧，则需要推进器采用可倾转的结构来进行俯仰方向的姿态控制。
3、所述收放支撑机构包括第一撑臂，其两端安装有垂直升降器，该结构简单，并且两个垂直升降器分别安装于第一撑臂的两端，可以较好的满足提升时的强度要求。
4、第一撑臂与第二撑臂的中部通过所述铰接轴活动铰接并形成“X”状，该结构具有以下优点：
A、当第一撑臂与第二撑臂互相平行时，第一撑臂及第二撑臂呈收纳状态，第一撑臂与第二撑臂(及安装于第一撑臂与第二撑臂上的垂直升降器)均位于收纳空间内，当第一撑臂与第二撑臂呈一定角度时，两者展开，垂直升降器位于收纳空间外；“X”状的结构方便收纳及展开，结构非常简单；
B、对于第一撑臂与第二撑臂铰接处，其所受的弯折力矩较大，两者相铰接并形成“X”状，可以较好的保证第一撑臂与第二撑臂在铰接处的弯折强度和刚度；
C、第一撑臂与第二撑臂铰接并形成“X”状，在展开时可以形成较大的展开平面，在收纳时占用的空间更小，结构紧凑。
5、第一撑臂、第二撑臂均包括有铰接部及第一端臂、第二端臂，各第一端臂、第二端臂均位于铰接轴的两侧，这样可以保证第一撑臂、第二撑臂在收 纳状态下处于相互平行的状态，避免收纳不彻底而占用过多的空间。
6、由于第一撑臂、第二撑臂均具有相应的厚度，两者相互铰接时，第一撑臂、第二撑臂不可能处于一个绝对的平面，这样会影响到飞机垂直升降时的稳定性；在安装时，所述第一撑臂上的两个所述垂直升降器通过其安装部安装于第一撑臂的下部，所述第二撑臂上的两个所述垂直升降器通过其安装部安装于第二撑臂的上部，这样可以保证四个垂直升降器均位于同一水平面，飞机的稳定性更好。
7、在所述第一撑臂、第二撑臂之间设有限位部，可以通过该限位部对第一撑臂、第二撑臂展开时的位置进行限位，保证飞行运行时的可靠性。
8、在所述第一撑臂、第二撑臂上分别设有第一拨销、第二拨销，收放驱动机构可以作用于第一拨销、第二拨销，由于第一拨销、第二拨销分别位于铰接轴的两个相反侧，第一撑臂相对于第二撑臂反向旋转，进而实现展开或收纳。
9、所述收放驱动机构包括旋转体、滑动体及导向体，旋转体放置时，拨指拨动滑动体移动，由于滑动体相对于导向体滑动配合，滑动体呈水平方向移动，进而通过第一拨销、第二拨销带动第一撑臂、第二撑臂展开或关闭。
10、所述铰接轴包括外轴、内轴，外轴、内轴分别与第一撑臂、第二撑臂固接，内轴，外轴的套接结构受力面更大，并且减少了第一撑臂、第二撑臂之间产生歪斜、扭曲的可能，该结构对于保证铰接处的可靠性至关重要。
11、两个活动门分别位于所述机身的两个相反侧，可以方便收放支撑机构的收纳与展开。
12、前述收纳空间、活动门、收放支撑机构等还可以设置于固定翼上，相对于前述结构(收纳空间、活动门、收放支撑机构等设置于机身上)，其原理相同，采用该方案后，还可以为机身留出更多的空间，使结构更紧凑。
13、将收纳空间、活动门、收放支撑机构等还可以设置于固定翼上，可以采用以下两种细化的方案：
A、每侧的固定翼上设置有所述垂直升降器，这样固定翼飞机进行升降或悬停时，其平衡性更好；
B、飞机的两侧各装设有一个所述垂直升降器，此时为提高固定翼飞机进行升降或悬停时平衡性，所述推进器活动的装设于所述机身上，在固定翼飞机进行高速巡航时，推进器作为高速巡航时的推进动力，在固定翼飞机进行升降或悬停时，推进器旋转至轴心竖直，此时推进器提供俯仰姿态控制能力。
附图说明
图1是本发明实施例一所述能垂直起降的固定翼飞机在高速巡航时底部视图；
图2是图1中，隐藏活动门后的结构图；
图3是本发明实施例一所述能垂直起降的固定翼飞机在垂直起降或悬停时上部视图；
图4是本发明实施例一所述能垂直起降的固定翼飞机在垂直起降或悬停时底部视图；
图5是本发明实施例一中，收放支撑机构、收放驱动机构的拆解结构图；
图6是本发明实施例一中，收放支撑机构、收放驱动机构的展开状态图；
图7是本发明实施例一中，收放支撑机构、收放驱动机构的收纳状态图；
图8是本发明实施例一中，在收纳状态下，收放支撑机构与垂直升降器的安装结构图；
图9是本发明实施例一中，活动门在收纳状态时的结构图；
图10是本发明实施例一中，活动门在展开状态时的结构图；
图11是本发明实施例二所述能垂直起降的固定翼飞机在垂直起降或悬停 时上部视图；
图12是本发明实施例二所述能垂直起降的固定翼飞机在垂直起降或悬停时侧视图；
图13是本发明实施例二所述能垂直起降的固定翼飞机在高速巡航时侧视图；
图14是本发明实施例三所述能垂直起降的固定翼飞机在垂直起降或悬停时上视图；
图15是本发明实施例四所述能垂直起降的固定翼飞机在垂直起降或悬停时上视图；
附图标记说明：
10、机身，11、固定翼，12、推进器，121、水平转轴，13、收纳空间，14、活动门，141、铰链，142、门驱动机构，143、主动连杆，144、从动连杆，145、骨架，15、水平尾翼，16、垂直尾翼，21、第一撑臂，211、第一拨销，22、第二撑臂，221、第二拨销，23、铰接轴，231、外轴，232、内轴，24、铰接部，25、第一端臂，26、第二端臂，30、收放驱动机构，31、旋转体，311、拨指，32、滑动体，321、第一拨动部，322、第二拨动部，323、拨槽，33、导向体，40、垂直升降器，41、安装部，42、旋翼。
具体实施方式
下面对本发明的实施例进行详细说明。
实施例一
如图1至图10所示，能垂直起降的固定翼飞机，该飞机采用常规布局，其包括机身10，在机身10的前部设有固定翼11，在机身10的后部设有水平尾翼15及垂直尾翼16，在机身10上垂直尾翼16后侧位置设有推进器12，在 机身10内设有收纳空间13，在机身10上设有与收纳空间13相通的开口，在机身10上还设有活动门14，该活动门14与开口位置相对应，在机身10内设有收放支撑机构以及对收放支撑机构进行收放驱动的收放驱动机构30，收放支撑机构的外端安装有垂直升降器40；该固定翼飞机具有展开状态及收纳状态，在展开状态下，所述活动门14将收纳空间13打开，且垂直升降器40在收放支撑机构作用下位于收纳空间13之外；在收纳状态下，垂直升降器40在收放支撑机构作用下位于收纳空间13之内，且所述活动门14将收纳空间13关闭。
其中，所述活动门14为两个，分别位于所述机身10的两个相反侧。在机身10上还安装有门驱动机构142，在活动门14与门驱动机构142之间设有主动连杆143及从动连杆144，主动连杆143呈“L”形，活动门14上设有骨架145，所述从动连杆144与骨架145连接，活动门14通过铰链141与机身10活动连接。
所述收放支撑机构包括第一撑臂21及第二撑臂22，第一撑臂21与第二撑臂22的中部通过所述铰接轴23活动铰接并形成“X”状，第一撑臂21、第二撑臂22的外端分别安装有所述垂直升降器40，即共四个垂直升降器40，前述铰接轴23与所述机身10连接。
如图5至图8所示，所述第一撑臂21、第二撑臂22均包括有铰接部24及第一端臂25、第二端臂26，第一撑臂21、第二撑臂22通过各自的铰接部24相铰接，第一端臂25、第二端臂26分别位于铰接部24的两个相反端；第一撑臂21的第一端臂25、第二端臂26的延长线分别位于所述铰接轴23的两个相反侧，第二撑臂22的第一端臂25、第二端臂26的延长线分别位于所述铰接轴23的两个相反侧；且，第一撑臂21的第一端臂25的延长线、第二撑臂22的第一端臂25的延长线分别位于所述铰接轴23的两个相反侧；第一撑臂21的第二端臂26的延长线、第二撑臂22的第二端臂26的延长线分别位于所述铰接轴23的两个相反侧。
所述第一撑臂21的铰接部24位位于第二撑臂22铰接部24位的上方，所述第一撑臂21及第二撑臂22均具有上部及下部；所述垂直升降器40包括安装部41及旋翼42，旋翼42固定于安装部41上，所述第一撑臂21上的两个所 述垂直升降器40通过其安装部41安装于第一撑臂21的下部，所述第二撑臂22上的两个所述垂直升降器40通过其安装部41安装于第二撑臂22的上部(具体见图8)。
在所述第一撑臂21、第二撑臂22上分别设有第一拨销211、第二拨销221，且第一拨销211、第二拨销221分别位于所述铰接轴23的两个相反侧。第一拨销211、第二拨销221同时具有限位作用，在限位状态下，所述第一撑臂21、第二撑臂22呈最大展开状态。
所述收放驱动机构30包括旋转体31、滑动体32及导向体33，导向体33及旋转体31均安装于所述机身10上，滑动体32与导向体33滑动配合，在滑动体32上设有拨槽323，旋转体31上设有拨指311，拨指311偏离于旋转体31的旋转轴心，拨指311插入拨槽323内；在滑动体32上设有第一拨动321部、第二拨动部322，第一拨销211、第二拨销221分别插入第一拨动321部、第二拨动部322内。所述铰接轴23包括外轴231、内轴232，外轴231套设于内轴232上，所述第一撑臂21与外轴231固接，所述第二撑臂22与内轴232固接。
所述固定翼11位于所述机身10的两侧，所述铰接轴23位于所述固定翼11靠后位置，在展开状态，前方的两个所述垂直升降器40位于所述固定翼11的前方位置。
本实施例具有如下优点:
1、在固定翼飞机进行升降或悬停时，活动门14打开，收放支撑机构在收放驱动机构30的作用下展开，垂直升降器40位于收纳空间13之外，垂直升降器40工作，此时能在垂直方向为飞机提供大的拉力；在固定翼飞机进行高速巡航时，收放支撑机构及垂直升降器40在收放驱动机构30的作用下置于收纳空间13内，活动门14关闭，推进器12工作，此时可充分的利用固定翼11的高气动效率，能效高，航程远。
2、在展开状态下，四个垂直升降器40位于所述机身10的两个相反侧，在垂直升降或悬停状态下，垂直升降器40从机身10两侧为飞机提供提升的拉 力，稳定性更高。
3、所述收放支撑机构包括第一撑臂21，其两端安装有垂直升降器40，该结构简单，并且两个垂直升降器40分别安装于第一撑臂21的两端，可以较好的满足提升时的强度要求。
4、第一撑臂21与第二撑臂22的中部通过所述铰接轴23活动铰接并形成“X”状，该结构具有以下优点：
A、当第一撑臂21与第二撑臂22互相平行时，第一撑臂21及第二撑臂22呈收纳状态，第一撑臂21与第二撑臂22(及安装于第一撑臂21与第二撑臂22上的垂直升降器40)均位于收纳空间13内，当第一撑臂21与第二撑臂22呈一定角度时，两者展开，垂直升降器40位于收纳空间13外；“X”状的结构方便收纳及展开，结构非常简单；
B、对于第一撑臂21与第二撑臂22铰接处，其所受的弯折力矩较大，两者相铰接并形成“X”状，可以较好的保证第一撑臂21与第二撑臂22在铰接处的弯折强度和刚度；
C、第一撑臂21与第二撑臂22铰接并形成“X”状，在展开时可以形成较大的展开平面，在收纳时占用的空间更小，结构紧凑。
5、第一撑臂21、第二撑臂22均包括有铰接部24及第一端臂25、第二端臂26，各第一端臂25、第二端臂26均位于铰接轴23的两侧，这样可以保证第一撑臂21、第二撑臂22在收纳状态下处于相互平行的状态，避免收纳不彻底而占用过多的空间。
6、由于第一撑臂21、第二撑臂22均具有相应的厚度，两者相互铰接时，第一撑臂21、第二撑臂22不可能处于一个绝对的平面，这样会影响到飞机垂直升降时的稳定性；在安装时，所述第一撑臂21上的两个所述垂直升降器40通过其安装部41安装于第一撑臂21的下部，所述第二撑臂22上的两个所述垂直升降器40通过其安装部41安装于第二撑臂22的上部，这样可以保证四个垂直升降器40均位于同一水平面，飞机的稳定性更好。
7、在所述第一撑臂21、第二撑臂22之间通过第一拨销211、第二拨销221对第一撑臂21、第二撑臂22展开时的位置进行限位，保证飞行运行时的可靠性。
8、在所述第一撑臂21、第二撑臂22上分别设有第一拨销211、第二拨销221，收放驱动机构30可以作用于第一拨销211、第二拨销221，由于第一拨销211、第二拨销221分别位于铰接轴23的两个相反侧，第一撑臂21相对于第二撑臂22反向旋转，进而实现展开或收纳。
9、所述收放驱动机构30包括旋转体31、滑动体32及导向体33，旋转体31放置时，拨指311拨动滑动体32移动，由于滑动体32相对于导向体33滑动配合，滑动体32呈水平方向移动，进而通过第一拨销211、第二拨销221带动第一撑臂21、第二撑臂22展开或关闭。
10、所述铰接轴23包括外轴231、内轴232，外轴231、内轴232分别与第一撑臂21、第二撑臂22固接，内轴232，外轴231的套接结构受力面更大，并且减少了第一撑臂21、第二撑臂22之间产生歪斜、扭曲的可能，该结构对于保证铰接处的可靠性至关重要。
11、两个活动门14分别位于所述机身10的两个相反侧，可以方便收放支撑机构的收纳与展开。
实施例二
如图11至图13所示，本实施例中，所述垂直升降器40为两个，分别设于所述机身10的两个相反侧，在所述机身10上设有水平转轴121，所述推进器12通过该转轴活动的装设于所述机身10上。
机身10的两侧各装设有一个垂直升降器40，此时为提高固定翼飞机进行升降或悬停时平衡性，所述推进器12通过水平转轴121活动的装设于所述机身10上，在固定翼飞机进行高速巡航时，推进器12作为高速巡航时的推进动力，在固定翼飞机进行升降或悬停时，推进器12旋转至轴心竖直，此时推进器12作为俯仰控制机构并辅助提升动力。
实施例三
如图14所示，本实施例中，固定翼飞机采用的是鸭式布局，其余结构与实施例一相似，原理相同，此处不在赘述。
实施例四
如图15所示，本实施例采用飞翼布局结构，固定翼与机身融合一体，称之为飞翼,在飞翼上安装有推进器12，在固定翼11上设有与收纳空间13相通的开口，在固定翼11上还设有活动门14，其余结构与实施例一相似，原理相同，且采用该方案后，还可以留出更多的空间，使结构更紧凑。
以上仅为本发明的具体实施例，并不以此限定本发明的保护范围；在不违反本发明构思的基础上所作的任何替换与改进，均属本发明的保护范围。

Claims (15)

  1. 能垂直起降的固定翼飞机，其特征在于，包括机身，在机身上设有固定翼及推进器，在机身内设有收纳空间，在机身上设有与收纳空间相通的开口，在机身上还设有活动门，该活动门与开口位置相对应，在机身内设有收放支撑机构以及对收放支撑机构进行收放驱动的收放驱动机构，收放支撑机构的外端安装有垂直升降器；该固定翼飞机具有展开状态及收纳状态，在展开状态下，所述活动门将收纳空间打开，且垂直升降器在收放支撑机构作用下位于收纳空间之外；在收纳状态下，垂直升降器在收放支撑机构作用下位于收纳空间之内，且所述活动门将收纳空间关闭。
  2. 如权利要求1所述能垂直起降的固定翼飞机，其特征在于，所述垂直升降器为至少两个，在展开状态下，至少两个所述垂直升降器位于所述机身的两个相反侧。
  3. 如权利要求2所述能垂直起降的固定翼飞机，其特征在于，在所述机身上设有水平转轴，所述推进器通过该转轴活动的装设于所述机身上。
  4. 如权利要求2所述能垂直起降的固定翼飞机，其特征在于，所述收放支撑机构包括第一撑臂，其中部通过铰接轴与所述机身活动连接，至少两个所述垂直升降器安装于第一撑臂的两端。
  5. 如权利要求4所述能垂直起降的固定翼飞机，其特征在于，所述收放支撑机构还包括第二撑臂，第一撑臂与第二撑臂的中部通过所述铰接轴活动铰接并形成“X”状，第一撑臂、第二撑臂的外端分别安装有所述垂直升降器，前述铰接轴与所述机身连接。
  6. 如权利要求5所述能垂直起降的固定翼飞机，其特征在于，所述第一撑臂的铰接部位位于第二撑臂铰接部位的上方，所述第一撑臂及第二撑臂均具有上部及下部；所述垂直升降器包括安装部及旋翼，旋翼固定于安装部上，所述第一撑臂上的两个所述垂直升降器通过其安装部安装于第一撑臂的下部，所述第二撑臂上的两个所述垂直升降器通过其安装部安装于第二撑臂的上部。
  7. 如权利要求5所述能垂直起降的固定翼飞机，其特征在于，在所述第一撑臂、第二撑臂之间设有限位部，在第一限位部位置，所述第一撑臂、第二 撑臂呈最大展开状态。
  8. 如权利要求5所述能垂直起降的固定翼飞机，其特征在于，在所述第一撑臂、第二撑臂上分别设有第一拨销、第二拨销，且第一拨销、第二拨销分别位于所述铰接轴的两个相反侧。
  9. 如权利要求8所述能垂直起降的固定翼飞机，其特征在于，所述收放驱动机构包括旋转体、滑动体及导向体，导向体及旋转体均安装于所述机身上，滑动体与导向体滑动配合，在滑动体上设有拨槽，旋转体上设有拨指，拨指偏离于旋转体的旋转轴心，拨指插入拨槽内；在滑动体上设有第一拨动部、第二拨动部，第一拨销、第二拨销分别插入第一拨动部、第二拨动部内。
  10. 如权利要求5所述能垂直起降的固定翼飞机，其特征在于，所述铰接轴包括外轴、内轴，外轴套设于内轴上，所述第一撑臂与外轴固接，所述第二撑臂与内轴固接。
  11. 如权利要求5所述能垂直起降的固定翼飞机，其特征在于，所述活动门为两个，分别位于所述机身的两个相反侧。
  12. 能垂直起降的固定翼飞机，其特征在于，包括机身，在机身上设有固定翼及推进器，在固定翼内设有收纳空间，在固定翼上设有与收纳空间相通的开口，在固定翼上还设有活动门，该活动门与开口位置相对应，在固定翼内设有收放支撑机构以及对收放支撑机构进行收放驱动的收放驱动机构，收放支撑机构的外端安装有垂直升降器；该固定翼飞机具有展开状态及收纳状态，在展开状态下，所述活动门将收纳空间打开，且垂直升降器在收放支撑机构作用下位于收纳空间之外；在收纳状态下，垂直升降器在收放支撑机构作用下位于收纳空间之内，且所述活动门将收纳空间关闭。
  13. 如权利要求12所述能垂直起降的固定翼飞机，其特征在于，所述固定翼为两个，分别设于所述机身的两个相反侧，各固定翼上通过所述收放支撑机构安装有两个所述垂直升降器。
  14. 如权利要求12所述能垂直起降的固定翼飞机，其特征在于，所述垂 直升降器为两个，在所述机身上设有水平转轴，所述推进器通过该转轴活动的装设于所述机身上。
  15. 能垂直起降的固定翼飞机的飞行控制方法，其特征在于：
    在固定翼飞机进行升降或悬停时，活动门打开，收放支撑机构在收放驱动机构的作用下展开，垂直升降器位于收纳空间之外，垂直升降器工作；
    在固定翼飞机进行高速巡航时，收放支撑机构及垂直升降器在收放驱动机构的作用下置于收纳空间内，活动门关闭，推进器工作。
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