CN105109678B - One kind is verted quadrotor - Google Patents
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- CN105109678B CN105109678B CN201510562392.5A CN201510562392A CN105109678B CN 105109678 B CN105109678 B CN 105109678B CN 201510562392 A CN201510562392 A CN 201510562392A CN 105109678 B CN105109678 B CN 105109678B
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Abstract
Verted quadrotor the invention discloses one kind, belong to space travel field of power machinery, it includes fuselage, first wing and the second wing, vert unit and four sets of rotor units, the unit that verts is arranged on fuselage, its the first transverse axis and the second transverse axis for including being symmetricly set on fuselage both sides, also include first, second, 3rd, 4th rotor installation axle, the two ends of first transverse axis are respectively fixed with first, second rotor installation axle, described first, first is respectively fixed with second rotor installation axle, second rotor unit, the second transverse axis two ends are respectively fixed with the 3rd, 4th rotor installation axle, described 3rd, the 3rd is respectively fixed with 4th rotor installation axle, 4th rotor unit, described first, second, the rotary shaft of 3rd and the 4th rotor unit is and horizontal plane.The control of aircraft of the present invention is relatively easy.
Description
Technical field
The invention belongs to space travel field of power machinery, and in particular to a kind of Tilting four-rotor-wing aircraft.
Background technology
Traditional quadrotor has VTOL ability, during its horizontal flight, the necessary run-off the straight of its fuselage, and
And the level speed of quadrotor is difficult to reach the such higher cruising speed of Fixed Wing AirVehicle.Traditional fixed-wing flies
Row utensil has a higher level speed, but it has higher requirement to launching and reclaiming place, be not suitable in narrow space or
The environment landing of person mountain area.
It is proposed that a kind of Tilting four-rotor-wing aircraft structure, the both sides at position are respectively mounted four before and after fuselage
Individual wing, the rotor system that can be verted is respectively mounted in the outer end of wing, and the program needs four sets of systems of verting, and structure is relative
Complexity, while four sets of systems of verting are difficult to keep synchronous when verting, adds the control difficulty for the process of verting.The aircraft exists
It is flat that four sets rotor systems are nearly at same level height when flying, then before rotor generation air-flow will be to rear rotation
Wing motion causes strong aerodynamic interference, so as to be more difficult to control.The aircraft needs to utilize traditional fixed-wing flight when flat winged
The aileron and steering wheel of device, control law when aircraft vertical landing is with flat fly are entirely different, add the complexity of control operation
Property.
Somebody proposes one kind fuselage formula of verting and mixes polymorphic Flight Vehicle Structure, and the structure is almost without fuselage, by upper
Lower two wings composition, two sets of rotor systems is respectively mounted in the leading section of upper lower wing to form quadrotor, vertically
During landing, the aircraft takes off mode similar to tailstock formula, and its wing and ground are substantially vertical, when needing flat fly, by changing
The lift size for becoming rotor on two wings realizes verting for fuselage, puts down when flying by four rotors offer thrust, is provided and risen by fuselage
Power.One problem of the program is that the installation site of load is difficult to determine.
Accordingly, there exist the technical need for developing the new simple quadrotor that verts of rational in infrastructure and control.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, verted quadrotor the invention provides one kind, its
Purpose is that quickly cruise and long endurance ability are mutually tied with Fixed Wing AirVehicle by traditional quadrotor VTOL ability
Close, during takeoff and landing, provide lift using four sets of rotor units, when needing to put down winged forward, utilize the unit that verts
Four sets of rotor units and wing rotation are driven, wing is in horizontality, thrust is provided by four sets of rotor units, is carried by wing
For lift, the quadrotor that verts is while have the advantages that VTOL, quick cruise and long endurance, and control letter
It is single, it is rational in infrastructure.
To achieve the above object, verted quadrotor the invention provides one kind, it include fuselage, the first wing with
And second wing, it is characterised in that also including unit and the four sets of rotor units of verting, the unit that verts is arranged on fuselage,
Its first transverse axis and the second transverse axis for including being symmetricly set on fuselage both sides, in addition to the first rotor installation axle, the second rotor peace
Axle, the 3rd rotor installation axle and the 4th rotor installation axle are filled, the two ends of first transverse axis are respectively fixed with the first rotor peace
Fill and be respectively fixed with the first rotor list in axle and the second rotor installation axle, the first rotor installation axle and the second rotor installation axle
Member and the second rotor unit, the second transverse axis two ends are respectively fixed with the 3rd rotor installation axle and the 4th rotor installation axle, institute
State and the 3rd rotor unit and the 4th rotor unit are respectively fixed with the 3rd rotor installation axle and the 4th rotor installation axle, described
First, the rotary shaft of second, third and the 4th rotor unit and horizontal plane,
During work, first transverse axis and the second transverse axis energy synchronous axial system are with while drive the first rotor list
Member, the second rotor unit, the 3rd rotor unit, the 4th rotor the unit synchronous axial system when converting offline mode.
The unit that verts is arranged on fuselage near center location, and four sets of rotor unit synchronous axial systems can make first rotor
Unit, the second rotor unit, the 3rd rotor unit and the 4th rotor unit are located at identical horizontal plane, to realize aircraft
VTOL, or make the first rotor unit and the 3rd rotor unit and meanwhile positioned at lower horizontal plane and the second rotor unit and
4th rotor unit is simultaneously positioned at upper horizontal plane, to realize that the flat of aircraft flies.Upper horizontal plane and lower horizontal plane be it is relative, two
Above for upper horizontal plane in the individual horizontal plane being parallel to each other, underlying is lower horizontal plane.
By above inventive concept, by the four sets of rotor units that vert simultaneously, the VTOL function of aircraft can be achieved
With quick flat chikung energy, in VTOL, lift are provided using four sets of rotor units, when needing flat fly, inclining rotary mechanism by
Step is verted, and drives four sets of rotor units to vert, and four sets of rotor units provide thrust, and lift is provided by wing.
Further, it is described vert unit also include motor mount, the motor that verts, speed changer, gear, the main shaft that verts,
Clutch shaft bearing and second bearing, the motor mount are fixed on fuselage, described to incline for supporting and fixing the motor that verts
Rotating motor is connected by speed changer with the gear, the gear be fixed on it is described vert on main shaft, the clutch shaft bearing and institute
State second bearing and be separately fixed at fuselage both sides, be respectively used to the supports main shaft two ends being attached with fuselage, described
One transverse axis and second transverse axis are separately fixed at the main shaft two ends of verting.
Further, the root portion of the wing root portion of first wing and second wing is not fixed on described vert
The two ends of main shaft, first wing and second wing are symmetrical on fuselage.
By above inventive concept, can vert four sets of rotor units and wing simultaneously, realize the VTOL of aircraft
Function and quick flat chikung energy are, it is necessary to which during VTOL, wing is changed into vertical or near normal ground, will not increase extra
The resistance of VTOL is, it is necessary to which when flat winged, wing is changed into parallel to bottom surface or is approximately parallel to ground, by wing offer liter
Power.
Further, first wing and second wing are separately fixed at the fuselage both sides, so that wing appearance
State is fixed.
Further, when the first wing and second wing are separately fixed at the fuselage both sides, initial installation
Afterwards, angle (namely leading edge of a wing direction and the fuselage of the root string of first wing and second wing and fuselage datum line
Angle of the longitudinal axis plane along heading) it is -10 °~10 °, the angle depends on the aerofoil profile of selected wing.Root string is
Refer to the string of a musical instrument of airfoil root.
Further, when the first wing and second wing are separately fixed at the two ends of the main shaft that verts, initial peace
After dress, the angle of first wing and the second machine wing root chord and fuselage datum line is 80 °~100 °, and the angle is depended on
The aerofoil profile of selected wing.
Further, the rotor unit includes rotor motor and the blade being arranged in rotor motor rotating shaft, institute
Rotor motor is stated to correspond to respectively installed in the end of rotor installation axle.
Further, the structure of four sets of rotor units is identical, and when working, the rotation of two neighboring rotor unit
In the opposite direction.Here adjacent to refer to that standoff distance is nearer, four sets of rotor units constitute diagonal in a quadrangle, the quadrangle
On two rotor cell distances it is farthest, be non-conterminous, two rotor units on the diagonal are not adjacent.
Further, its tailplane and vertical tail for also including being arranged on afterbody, to ensure that it is good that aircraft has
Good aerodynamic characteristic.
Further, first wing and second wing and fuselage both sides or the two ends with the main shaft that verts
It is detachably connected, to facilitate transport.
Further, the fuselage is the structure type of framework outer cladding covering, is ensureing that aerodynamic configuration and structure are firm
In the case of degree, intensity, weight is as light as possible.
Further, first wing and the second wing are low speed high aspect ratio, the aerofoil profile of high lift-drag ratio.Low speed great Zhan
The ratio between the length and chord length of string than referring to wing is more than 8, and high lift-drag ratio refers to that lift coefficient and the ratio between resistance coefficient of wing are big
In 20.
Further, the rotor motor is DC brushless motor, and DC brushless motor does not have brush, in the absence of brush
Damage, there is simple in construction, reliable, easy to maintenance, long lifespan, and operational efficiency height, good speed adjustment features, nothing
Excitation loss.
Further, the main shaft that verts of the unit that verts, the first transverse axis, the second transverse axis, first to fourth rotor are installed
High strength steel may be selected in the material of axle, and its tensile strength is more than 690Mpa.
Further, the main shaft that verts of the unit that verts, the first transverse axis, the second transverse axis, first to fourth rotor are installed
The material of axle is tubular structure, to ensure that weight is as light as possible in the case where meeting inclining rotary mechanism rigidity, intensity.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
(1) in the present invention, four sets of rotor units are arranged at the first transverse axis and the second horizontal stroke of the unit that verts of fuselage both sides
On axle, driven by the first transverse axis and the second transverse axis, can synchronous axial system, be easier to realize the VTOL function of aircraft, quick
It is flat to fly and spot hover function, in VTOL, lift is provided using four sets of rotor units, when needing flat fly, is verted
Unit drives four sets of rotor units synchronously gradually to vert, and four sets of rotor units provide thrust, and lift is provided by wing；It is fixed when needing
During point hovering, the unit that verts drives four sets of rotor units to vert, and aircraft is returned to VTOL pattern, realizes spot hover.
(2) wing of the present invention can synchronously be verted with rotor unit, in aircraft vertical landing, and wing is moved to aircraft
Aerodynamic drag it is minimum, stress is more reasonable, while can ensure that the relative appearance of four sets of rotor units and wing during verting
State is consistent, consequently facilitating during verting posture stability contorting, also can ensure that unit size of verting is compact.
(3) present invention can change the size of respective thrust by adjusting the rotating speed of four sets of rotor units, so as to control to fly
During row device horizontal flight the posture of pitching, driftage and rolling movement with stably, it is flat fly when control law and during VTOL
Control law it is consistent, its controlling organization is simpler.
(4) the wing quick release of aircraft of the present invention, consequently facilitating aircraft is transported.
Brief description of the drawings
Fig. 1 is the quadrotor structure vertical landing schematic diagram that verts in the embodiment of the present invention；
Fig. 2 is the horizontal flight schematic diagram of quadrotor structure of verting in Fig. 1；
Fig. 3 is inclining rotary mechanism structural representation in Fig. 1；
Fig. 4 is the quadrotor structure vertical landing schematic diagram that verts in another of the invention embodiment.
In all of the figs, identical reference is used for representing identical element or structure,
1- fuselages 2- the first wing the second wings of 3-
4- verts unit 5- the first rotor unit 6- the second rotor units
The rotor unit 9- motor erection supports of the 3rd rotor unit 8- of 7- the 4th
10- verts motor 11- speed changer 12- gears
13- verts main shaft 14- clutch shaft bearing 15- second bearings
16- the first transverse axis 17- the second transverse axis 18- the first rotor installation axles
The rotor installation axles of the 3rd rotor installation axle 21- of 19- the second rotor installation axle 20- the 4th
22- standard of fuselage empennage 23- fuselage vertical tail 24- rotor motors
25- blades
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
Fig. 1 is the quadrotor structural representation that verts in the embodiment of the present invention.As seen from the figure, one kind of the present embodiment
Quadrotor structure of verting includes fuselage 1, the first wing 2, the second wing 3, the unit 4 that verts, the first rotor unit 5, the
Two rotor units 6, the 3rd rotor unit 7, the 4th rotor unit 8.Fuselage 1 also includes tailplane 22 and vertical tail 23.
Wherein, the first wing 2 and the second wing 3 are separately positioned on the both sides of fuselage 1, and the first wing 2 and the second wing 3 be not straight
Connect and be connected with fuselage 1, the two ends of the wing root portion A of the first wing 2 and the wing root portion B of the second wing 3 and the main shaft 13 that verts are symmetrically fixed to be connected
Connect.After initial installation, the angle of 3 strings of first wing 2 and second wing and fuselage datum line is 80 °~100 °,
The angle depends on the aerofoil profile of selected wing.Specific in the embodiment of the present invention, the angle is about 92 °, but of the invention
All it is feasible positioned at 80 °~100 ° to its specific angle without limiting.
First rotor unit 5, the second rotor unit 6 and the first wing 2 are located at the same side of fuselage, the 3rd rotor unit 7
It is located at the same side of fuselage with the 4th rotor unit 8 and the second wing 3, and the first rotor unit 5, the second rotor unit 6 are distinguished
Positioned at the front and back position of the first wing 2, likewise, the 3rd rotor unit 7 and the 4th rotor unit 8 are located at the second wing 3 respectively
Front and back position.
The unit 4 that verts is for realizing the change in location of four sets of rotor units and wing so that aircraft flies and vertical flat
Switch between the pattern of landing.The unit 4 that verts is arranged in the position of centre of gravity of fuselage 1 by clutch shaft bearing 14 and second bearing 15 respectively
Near, fuselage midpoint rearward position nearby is specifically referred near the position of centre of gravity of fuselage 1.Vert unit 4 can around with machine
Body 1 connect the main shaft 13 that verts rotate, the first wing 2 and the second wing 3 are not fixedly connected with fuselage 1, but with four sets of rotors
Unit 5,6,7,8, which corresponds to be fixedly mounted on, to vert on unit 4, and can be with the synchronous rotary of unit 4 that verts.
Fig. 2 is the horizontal flight schematic diagram of four rotor structures of verting in Fig. 1, and rotor unit includes rotor motor and and rotor
The connected blade of motor, as an example, the second rotor unit 6 includes rotor motor 24 and blade 25.
Fig. 3 is the structural representation of unit 4 of verting in Fig. 1, and as seen from the figure, the unit 4 that verts is included by motor erection support
9th, vert motor 10, speed changer 11, gear 12, the main shaft 13 that verts, clutch shaft bearing 14, second bearing 15, the first transverse axis 16, second
Transverse axis 17, the first rotor installation axle 18, the second rotor installation axle 19, the 3rd rotor installation axle 20, the 4th rotor installation axle 21.
Wherein, motor erection support 9 is fixed near the position of centre of gravity of fuselage 1, and the motor 10 that verts is fixed on motor installation
To be supported by it on bearing 9, the one end of speed changer 11 is connected with the motor 10 that verts, and the other end passes through gear 12 and the phase of main shaft 13 of verting
Connection.The motor 10 that verts provides power, and is carried out by speed changer after speed regulation, is further transmitted power by gear 12
To the main shaft 13 that verts.The vert two ends of main shaft 13 are respectively fixed with the first transverse axis 16 and the second transverse axis 17, the first transverse axis 16 and
The axis of two transverse axis 17 is vertical and coplanar with the axis for the main shaft 13 that verts.First rotor installation axle 18, the second rotor installation axle 19,
3rd rotor installation axle 20, the 4th rotor installation axle 21 in pairs, and are separately mounted to the first transverse axis 16 and the second transverse axis 17
Two ends, each the axis vertical coplanar of rotor installation axle axis respectively with each transverse axis.Specifically, the first rotor installation axle 18
One end and the one end of the second rotor installation axle 19 respectively correspond to be arranged on the two ends of the first transverse axis 16, the one end of the 3rd rotor installation axle 20 and
The one end of 4th rotor installation axle 21 is corresponded to respectively is arranged on the two ends of the second transverse axis 17, the other end correspondence of the first rotor installation axle 18
The rotor motor of first rotor unit 5, the other end correspondence of the second rotor installation axle 19 are installed the second rotor unit 6 is installed
Rotor motor, the other end correspondence of the 3rd rotor installation axle 20 rotor motor, the 4th rotor of the 3rd rotor unit 7 are installed
The other end correspondence of installation axle 21 is provided with the rotor motor of the 4th rotor unit 8, and ensures the rotary shaft and water of rotor unit
Plane is vertical.The vert two ends of main shaft 13 are connected by clutch shaft bearing 14 and second bearing 15 with fuselage 1 respectively.
In the present invention, the first wing 2 and the second wing 3 are movably connected on the first transverse axis 16 and the second transverse axis 17,
It can be easy to aircraft to transport with fast assembling-disassembling.
The present invention verts quadrotor in initial install, and root string and the fuselage of the first wing 2 and the second wing 3 are indulged
The angle (namely being interpreted as leading edge of a wing direction and angle of the fuselage datum line plane along heading) of axis is about 92 °.
During VTOL, lift is provided using four sets of rotor units 5,6,7,8, when needing flat fly, the unit 4 that verts progressively verts, band
Dynamic four sets of rotor units 5,6,7,8 being fixed thereon and the first wing 2 and the second wing 3 synchronously vert, four sets of rotor units
5th, 6,7,8 thrust is provided, lift is provided by the first wing 2 and the second wing 3.
In a preferred embodiment as the present invention, fuselage length 5000mm (contains empennage), fuselage Breadth Maximum 600mm.
EPLER748 aerofoil profiles may be selected in wing, and chord length 370mm, span 2700mm, the main shaft that verts may be selected to be hollow cylinder structure, and it is grown
Spend for 800mm, material selection is high strength steel, its intensity is more than 690MPa, and the first transverse axis and the second transverse axis may be selected to be sky
Heart cylindrical structure, its length is 1200mm, and material selection is high strength steel, and its intensity is more than 690MPa.
When being provided with control flaps on aircraft, pitching, driftage and the rolling during flat fly can be controlled by the adjustment of rudder
The posture of motion and stably.When being fitted without control flaps on aircraft, it can be changed by adjusting the rotating speed of four sets of rotor systems
Become the size of respective thrust, thus control during aircraft horizontal flight the posture of pitching, driftage and rolling movement with stably.
A kind of mechanism for the quadrotor that verts of the present invention is as follows：
1) when the landing of this aircraft vertical, the rotary shaft and horizontal plane of the electric rotating machine of four rotor units 5,6,7,8
Vertically, wing and horizontal plane are basic into plumbness, the location of in such as Fig. 1, and four rotor units are that aircraft is provided liter
Power., it is necessary to when adjusting the angle of pitch during aircraft vertical landing, while increase (or reduction) the second rotor unit 6 and the
The rotating speed of four rotor units 8, so as to increase the lift of (or reduction) the second rotor unit 6 and the 4th rotor unit 8, realizes pitching
The adjustment at angle；When needing adjustment roll angle, while increase (or reduction) first rotor unit 5, the rotating speed of the second rotor unit 6,
So as to increase (or reduction) first rotor unit 5, the lift of the second rotor unit 6, the adjustment of roll angle is realized；Need adjustment inclined
During boat angle, while increase (or reduction) the first rotor of rotor system unit 5, the rotating speed of the 3rd rotor unit 7, so that increase (or
Reduce) torque of aircraft, realize the adjustment of yaw angle.
2) when this aircraft is adjusted to level flight condition from VTOL state, the unit 4 that verts drives four rotors
Unit 5,6,7,8 and wing 2,3 synchronously vert, specifically, the motor 10 that verts is connected by speed changer 11 and with speed changer 11
Gear 12 drive the main shaft 13 that verts to vert, the first wing 2 and the second wing 3 and the first transverse axis being connected with the main shaft 13 that verts
16 and the second transverse axis 17 is synchronous verts, so as to realize the first transverse axis 16 and the second transverse axis of four rotor units 5,6,7,8 of connection
17 are changed into the state with horizontal plane by the state with plane-parallel.During verting, ensure the appearance of fuselage as far as possible
State is substantially parallel with horizontal plane, it is necessary to when adjusting the angle of pitch, while increase (or reduction) the second rotor unit 6 and the 4th rotor list
The rotating speed of member 8, so as to increase the lift of (or reduction) the second rotor unit 6 and the 4th rotor unit 8, realizes the tune of the angle of pitch
It is whole；When adjusting roll angle and yaw angle, it is the rotating speed by the way that different rotor units are altered in steps, changes its lift, so that real
The adjustment of existing roll angle and yaw angle.
3) when the horizontal flight of this aircraft, the rotary shaft of the electric rotating machine of four rotor units 5,6,7,8, the first wing
2 and second wing 3 it is substantially parallel with horizontal plane, the location of such as in Fig. 2, four rotor units provide water for aircraft
Horizontal sliding power, wing provides lift for aircraft., it is necessary to when adjusting the angle of pitch, increase simultaneously in the horizontal flight course of aircraft
The rotating speed of (or reduce) second rotor unit 6 and the 4th rotor unit 8, so as to increase (or reduction) the second rotor unit 6 and the
The thrust of four rotor units 8, realizes the adjustment of the angle of pitch；When needing adjustment yaw angle, while increase (or reduction) first rotor
The rotating speed of unit 5, the second rotor unit 6, so that increase (or reduction) first rotor unit 5, the thrust of the second rotor unit 6,
Realize the adjustment of yaw angle；When needing adjustment roll angle, while increase (or reduction) first rotor unit 5, the 4th rotor unit 8
Rotating speed, the torque of (or reduction) aircraft, realizes the adjustment of roll angle so as to increase.
Fig. 4 is the quadrotor structure vertical landing schematic diagram that verts in another of the invention embodiment, as seen from the figure,
First wing 2 and second wing 3 are separately fixed at the both sides of fuselage 1, so that wing posture is fixed.The He of first wing 2
When second wing 3 is separately fixed at 1 both sides of fuselage, after initial installation, first wing 2 and described second
Angle (namely leading edge of a wing direction and angle of the fuselage datum line plane along heading of the root string of wing 3 and fuselage datum line
Degree) it is -10 °~10 °, the angle depends on the aerofoil profile of selected wing.Specific in the embodiment of the present invention, the angle is about
2 °, but the present invention to its specific angle without limit, be all feasible positioned at -10 °~10 °.
Aircraft described in Fig. 4, in VTOL, is adjusted to from VTOL state level flight condition, level and flies
The aircraft of embodiment of the course of work with Fig. 1 into Fig. 3 during row is different, in three of the above state, flies in Fig. 4 embodiments
The wing whole process of row device is fixed, and simply four sets of rotor units are rotated with the first transverse axis, the second quadrature-axis synchronous.It is such to set
Meter so that the control of aircraft in the course of the work is more stable, controllable and simple.
The Tilting four-rotor-wing aircraft of the present invention is rationally distributed, compact conformation, and rotor and wing can be realized reliable and stable
Synchronization vert, reduce the inconsistency during verting, reduce control difficulty；VTOL, vert and peaceful fly over journey
Posture and it is stable all realized using the control method of rotor motor rotating speed is adjusted, reduce control difficulty；And four rotations
Aerodynamic interference during wing unit is in VTOL, peace of verting flies is smaller, it is ensured that the stability of flight course.The present invention
Simple in construction, reliable operation realizes the function of aircraft vertical landing, quick cruise and long endurance.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (7)
- The quadrotor 1. one kind is verted, it includes fuselage (1), the first wing (2) and the second wing (3), and its feature exists In in addition to the unit that verts (4) and four sets of rotor units (5,6,7,8), the unit that verts are arranged on fuselage (1), and it is wrapped Include the first transverse axis (16) and the second transverse axis (17) for being symmetricly set on fuselage (1) both sides, in addition to the first rotor installation axle (18), Second rotor installation axle (19), the 3rd rotor installation axle (20) and the 4th rotor installation axle (21), first transverse axis (16) Two ends be respectively fixed with the first rotor installation axle (18) and the second rotor installation axle (19), the first rotor installation axle (18) With the first rotor unit (5) and the second rotor unit (6), second transverse axis are respectively fixed with the second rotor installation axle (19) (17) two ends are respectively fixed with the 3rd rotor installation axle (20) and the 4th rotor installation axle (21), the 3rd rotor installation axle (20) the 3rd rotor unit (7) and the 4th rotor unit (8), described and in the 4th rotor installation axle (21) are respectively fixed with First, the rotary shaft of second, third and the 4th rotor unit and horizontal plane,During work, first transverse axis (16) and second transverse axis (17) energy synchronous axial system are with while drive first rotor Unit (5), the second rotor unit (6), the 3rd rotor unit (7), the 4th rotor unit (8) synchronously turn when converting offline mode It is dynamic,Wherein, the unit that verts also includes motor mount (9), the motor that verts (10), speed changer (11), gear (12), inclined Turn main shaft (13), clutch shaft bearing (14) and second bearing (15), the motor mount (9) is fixed on fuselage (1), is used for Support and fix the motor that verts (10), the motor that verts (10) is connected by speed changer (11) with the gear (12), described Gear (12) is verted on main shaft (13) described in being fixed on, and the clutch shaft bearing (14) and the second bearing (15) are separately fixed at Fuselage (1) both sides, are respectively used to the main shaft that verts (13) two ends and fuselage (1) being attached, first transverse axis (16) Described main shaft (13) two ends of verting are separately fixed at second transverse axis (17),Wherein, the wing root portion (A) of first wing (2) and the wing root portion (B) of second wing (3) are separately fixed at described Vert the two ends of main shaft (13), first wing (2) and second wing (3) on fuselage (1) symmetrically, first machine The wing (2) and the second wing (3) can with the main shaft that verts (13) synchronously vert,Specifically, the unit that verts (4) is for realizing the change in location of four sets of rotor units and wing so that aircraft flies flat Switch between the pattern of VTOL, the unit that verts (4) is arranged on machine by clutch shaft bearing (14) and second bearing (15) respectively Near body (1) position of centre of gravity, fuselage midpoint rearward position nearby is specifically referred near fuselage (1) position of centre of gravity, is verted Unit (4) can around the main shaft that verts (13) rotation being connected with fuselage (1), the first wing (2) and the second wing (3) not with fuselage (1) be fixedly connected, but with four sets of rotor units (5,6,7,8) are corresponding is fixedly mounted on the unit that verts (4), and can be with inclining Turn unit (4) synchronous rotary,During takeoff and landing, lift is provided using four sets of rotor units, when needing to put down winged forward, the unit that verts is utilized Four sets of rotor units and wing rotation are driven, wing is in horizontality, thrust is provided by four sets of rotor units, is carried by wing For lift.
- The quadrotor 2. one kind as claimed in claim 1 is verted, it is characterised in that after initial installation, described the The root string of one wing (2) and second wing (3) and the angle of fuselage datum line are -10 °~10 °.
- The quadrotor 3. one kind as claimed in claim 1 is verted, it is characterised in that the first wing and second wing When being separately fixed at the two ends of the main shaft that verts, after initial installation, first wing and the second machine wing root chord and machine The angle of body longitudinal axis is 80 °~100 °.
- The quadrotor 4. one kind as claimed in claim 3 is verted, it is characterised in that the rotor unit (5,6,7,8) Include rotor motor and the blade being arranged in rotor motor rotating shaft, the rotor motor is corresponded to respectively is arranged on rotor peace Fill the end of axle (18,19,20,21).
- The quadrotor 5. one kind as claimed in claim 4 is verted, it is characterised in that four sets of rotor units (5,6, 7th, 8) structure is identical, and when working, the direction of rotation of two neighboring rotor unit is opposite.
- The quadrotor 6. one kind as claimed in claim 5 is verted, it is characterised in that it also includes being arranged on afterbody Tailplane (22) and vertical tail (23), to ensure that aircraft has good aerodynamic characteristic.
- The quadrotor 7. one kind as claimed in claim 6 is verted, it is characterised in that first wing (2) and described Second wing (3) is detachably connected with fuselage (1) both sides or with the two ends of the main shaft that verts (13), to facilitate transport.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510562392.5A CN105109678B (en) | 2015-09-06 | 2015-09-06 | One kind is verted quadrotor |
Applications Claiming Priority (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105480416A (en) * | 2016-01-18 | 2016-04-13 | 南京信息工程大学 | Unmanned aerial vehicle with tilted rotors |
| CN107352029A (en) * | 2016-05-09 | 2017-11-17 | 中国科学院沈阳自动化研究所 | A kind of electronic multiaxis tilting rotor wing unmanned aerial vehicle system |
| JP2018020742A (en) * | 2016-08-05 | 2018-02-08 | 独立行政法人国立高等専門学校機構 | Flight vehicle, modification kit, control method and control program |
| US10513334B2 (en) * | 2017-06-12 | 2019-12-24 | Textron Innovations Inc. | X-tiltwing aircraft |
| CN108639355A (en) * | 2018-04-28 | 2018-10-12 | 成都航空职业技术学院 | It verts the propulsion system and canard coaxial rotation oscillation device of power general-purpose aircraft |
| CN108656885A (en) * | 2018-05-07 | 2018-10-16 | 中国科学院沈阳自动化研究所 | Tilting rotor air-sea amphibious robot |
| CN108482668A (en) * | 2018-05-24 | 2018-09-04 | 深圳智航无人机有限公司 | Tilting type vertically taking off and landing flyer |
| CN109263933A (en) * | 2018-10-30 | 2019-01-25 | 佛山市神风航空科技有限公司 | A kind of belt wheel Sledge type undercarriage multiplane |
| WO2020237558A1 (en) * | 2019-05-30 | 2020-12-03 | 四川灼识科技股份有限公司 | Power-controlled aerial vehicle thrust steering method and corresponding aircraft |
| CN113716033B (en) * | 2021-09-03 | 2023-12-05 | 中电科芜湖通用航空产业技术研究院有限公司 | Multipurpose aircraft |
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