CN106428525A - Flying robot with variable sweep angle launch tandem wings - Google Patents
Flying robot with variable sweep angle launch tandem wings Download PDFInfo
- Publication number
- CN106428525A CN106428525A CN201610997611.7A CN201610997611A CN106428525A CN 106428525 A CN106428525 A CN 106428525A CN 201610997611 A CN201610997611 A CN 201610997611A CN 106428525 A CN106428525 A CN 106428525A
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- China
- Prior art keywords
- wing
- fuselage
- flying robot
- sweep angle
- front wing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/40—Varying angle of sweep
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/08—Aircraft not otherwise provided for having multiple wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/70—Launching or landing using catapults, tracks or rails
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention discloses a flying robot with variable sweep angle launch tandem wings and aims to solve the problem that neither two front folding wings nor two rear folding wings of an existing launch flying robot can be unfolded respectively, so that moving attitude control of the flying robot is limited. The flying robot comprises a folding propeller, a fuselage, a left rear wing, a right rear wing, a left front wing, a right front wing, two vertical tails, two vertical tail pin shafts and four rotary hinges, wherein the folding propeller is installed on the head of the fuselage, the left front wing and the right front wing are symmetrically arranged on the two sides of the front end of the fuselage, the left rear wing and the right rear wing are symmetrically arranged on the two sides of the rear end of the fuselage, the left front wing, the right front wing, the left rear wing and the right rear wing are hinged to the corresponding rotary hinges respectively, each rotary hinge is connected with a corresponding helm gear in the fuselage, and the two vertical tails are symmetrically arranged on the two sides of the tail end of the fuselage and installed on the upper surface of the tail portion of the fuselage through torsional springs. The flying robot is used for attitude control.
Description
Technical field
The present invention relates to a kind of ejection flying robot, and in particular to a kind of variable sweep angle launches tandem arrangement wing flying machine
People.
Background technology
At present, ejection flying robot as emission rate is high, launch stability is good, the spy such as can launch in complicated landform
Point receives the favor of vast researcher, while launch flying robot's wing can fold, is readily transported and deposits.Generally
In the case of flying robot's control mode be using aileron coordinate tail vane realize its rolling and pitch attitude control, but due to bullet
The wing-folding characteristic for folding rotor flying robot is penetrated, this mode can make foldable structure become more complicated, number of parts increases
Many, fault rate is also higher.Simultaneously for tandem arrangement wing layout, if using two aileron controls, the controling power of generation is less, rings
Answer speed slow, and flying robot's wing structure can be made more complicated using four aileron structures, while fuselage overall resistance
Can become big.It is usually to be launched using the mode of torsion spring or rack-and-pinion for the fold mechanism for folding rotor flying robot, turns round
Spring structure can not carry out active drive, just lose effect, for compact miniature self-service flying robot after wing launches
The utilization rate of part is reduced, gear ＆ rack structure heaviness is not suitable for miniature self-service flying robot.Publication No.
CN103587686B, the applying date are that the patent of invention on December 2nd, 2013 discloses a kind of ejection folding rotor flying robot, should
Although patent is big with simple structure, controling power, the advantage such as fast response time, the front folding wings 2 of two in the patent are
By torsion spring on front turntable 7, after two, folding wings 3 are arranged in rear turntable 17 by torsion spring, it can thus be appreciated that this flies
Row robot is to drive folding wings by torsion spring, and torsion spring structure belongs to passive matrix, and this type of drive is after folding wings expansion
Two front folding wings 2 that torsion spring is just lost in effect, and the patent can not be launched respectively, can only launch same angular simultaneously
Degree；After two, folding wings 3 can not be launched respectively, can only launch equal angular simultaneously；Also without aileron mechanism, it is impossible to realize flying
The gesture stability of row robot.
Content of the invention
The present invention be solve existing ejection flying robot two front folding wings 2 can not launch respectively and two after fold
The wing 3 can not launch respectively, it is impossible to realize the problem of the gesture stability of flying robot, provide a kind of variable sweep angle and launch tandem arrangement
Rotor flying robot.
A kind of variable sweep angle ejection tandem arrangement rotor flying robot of the present invention, its composition includes to fold propeller, fuselage, a left side
Rear wing, right rear wing, the left front wing, right front wing, two vertical tails, two vertical fin bearing pins and four turning joints, fold propeller
Installed in the head of fuselage, the left front wing and right front wing are symmetricly set on the both sides of front fuselage, and the left back wing and right rear wing symmetrically set
The both sides in back body are put, the left front wing, right front wing, the left back wing and right rear wing turning joint respectively corresponding thereto is hinged,
The steering wheel connection corresponding with fuselage interior of each turning joint, two vertical tails are symmetricly set on the both sides of fuselage tail end,
And vertical tail is by torsion spring on the upper surface of afterbody.
Technical scheme has the advantages that：
First, four wings of the present invention are independent controls, and two front wings can carry out sweepback change, and two rear wings are permissible
Sweepforward change is carried out, by controlling steering wheel, the sweepback of rational distribution wing and sweepforward change, makes the lift left side of flying robot
Right or uneven in front and back so that flying robot can carry out rolling and elevating movement, realize flying robot's aileron and
The effect of elevator, so that flying machine human body posture is controlled.
2nd, the present invention eliminates aileron and the control rudder face of flying robot, simplifies the foldable structure of flying robot
With tail vane structure, using installed in fuselage interior servos control wing expansion, its small volume, lightweight, fast response time；
Launched by servo driving wing, while control four wing sweep angle changes in flight, so as to the gas of change of flight robot
Dynamic profile carries out the switching of low cruise and high-speed flight pattern.
3rd, the wing of the present invention is that tandem arrangement wing layout, the layout improves load, while also solving non-tandem arrangement wing layout
The change of wing sweep angle can not be realized lifting a difficult problem for rudder action, have higher engineering to the aeroperformance for improving flying robot
Practical value, can be applied to the gesture stability of the flying robot of similar layout.
4th, the present invention ensure that flying robot makes the aspect ratio of flying robot in the case that aerodynamic center is constant
Reduce, flight resistance reduces, beneficial to the high-speed flight of flying robot, as wing is lighter, the impact to center of gravity can be ignored.
Description of the drawings
Fig. 1 is the front view of flying robot's folded state of the present invention；
Fig. 2 is the upward view of Fig. 1；
Fig. 3 is the axonometric chart of flying robot's deployed condition；
Fig. 4 is the upward view of flying robot's deployed condition；
Fig. 5 is flying robot's high-speed flight state wing sweep angle change schematic diagram；
Fig. 6 is flying robot's roll mode wing sweep angle change schematic diagram to the right；
Fig. 7 is flying robot's roll mode wing sweep angle change schematic diagram to the left；
Fig. 8 is flying robot's underriding campaign wing sweep angle change schematic diagram；
Fig. 9 is climbed motion wing sweep angle change schematic diagram for flying robot.
Specific embodiment
Specific embodiment one：In conjunction with Fig. 1～Fig. 4 illustrate present embodiment, present embodiment include fold propeller 1,
Fuselage 2, the left back wing 3, right rear wing 4, the left front wing 5, the vertical fin bearing pin 8 of vertical tail 7, two of right front wing 6, two and four rotating hinges
Chain 9, folds head of the propeller 1 installed in fuselage 2, is arranged so as to be conducive to the ejection launch of flying robot, 5 He of the left front wing
Right front wing 6 is symmetricly set on the both sides of 2 front end of fuselage, and the left back wing 3 and right rear wing 4 are symmetricly set on the both sides of 2 rear end of fuselage, left
Front wing 5, right front wing 6, the left back wing 3 and right rear wing 4 turning joint 9 respectively corresponding thereto are hinged, each turning joint 9 and machine
The internal corresponding steering wheel of body 2 connects (by servo driving turning joint 9), and two vertical tails 7 are symmetricly set on 2 tail end of fuselage
Both sides, and vertical tail 7 by torsion spring installed in 2 afterbody of fuselage upper surface on.Fuselage 2 is prior art, inside fuselage 2
There are four steering wheels, four steering wheels are corresponded with four turning joints 9.
From in terms of the upward view of flying robot, in folded state when four wing positions overlap with fuselage 2.So permissible
Effectively increase wing area in the case of fuselage projected area is certain, so as to increase the payload of flying robot.
Specific embodiment two：In conjunction with Fig. 4 illustrate present embodiment, the left front wing 5 of present embodiment and right front wing 6 from
The parallel position of fuselage 2 rotates forward 0 °～90 °.It is arranged so as to can ensure that the rapidly and accurately expansion of flying robot's wing
And in flight course front wing can only sweepback change, reduce flying robot control complexity.Other compositions and connection are closed
System is identical with specific embodiment one.
Specific embodiment three：In conjunction with Fig. 2 illustrate present embodiment, the left back wing 3 of present embodiment and right rear wing 4 from
0 °～90 ° parallel of position back rotation of fuselage 2.It is arranged so as to can ensure that the rapidly and accurately expansion of flying robot's wing
And in flight course rear wing can only sweepforward change, reduce flying robot control complexity.Other compositions and connection are closed
System is identical with specific embodiment two.
The operation principle of the present invention：
(1), before flying robot's catapult-assisted take-off, each wing rotates to the position parallel with fuselage 2, sees Fig. 1 and Fig. 2；
(2), after flying robot is by ejection launch, the left front wing 5 and right front wing 6 rotate forward 90 ° under servo driving
Fully deployed afterwards；The left back wing 3 and right rear wing 4 rotate backward fully deployed after 90 ° under servo driving, see Fig. 3 and Fig. 4；Two
Vertical tail 7 launches under torsion spring effect, without elevator and rudder on vertical tail 7, only serves transverse stabilization function.
(3), when needing flying robot to carry out high-speed flight, the left front wing 5 and 6 sweepback simultaneously of right front wing change 20 °, i.e.,
20 ° of back rotation, the left back wing 3 and right rear wing 4 are while 20 ° of sweepforward change, i.e., 20 ° of rotation forward, is shown in Fig. 5, flying robot's
Aspect ratio reduces, flight resistance reduces.
(4), when flying robot's low cruise is needed, the left front wing 5 and 6 its fully unfolded position of right front wing, 3 He of the left back wing
Right rear wing 4 is fully deployed, and each wing sweep angle of flying robot is zero, sees Fig. 3 and Fig. 4；
(5), when flying robot's rolling to the right is needed, right front wing 6 becomes sweepback, right rear wing 4 by expansion shape by deployed condition
State becomes sweepforward, and it is constant that the left front wing 5 and left back wing 3-dimensional hold its fully unfolded position, sees Fig. 6, subtracts the lift on the right of flying robot
Little and aerodynamic center is offset to the left, causes left and right to rise force unbalance, and producing makes the rolling moment of flying robot's rolling to the right, reaches
To the purpose for replacing aileron structure to realize the control of flying robot's roll attitude.
(6), when flying robot's rolling to the left is needed, the left front wing 5 becomes sweepback, the left back wing 3 by expansion shape by deployed condition
State becomes sweepforward, and right front wing 6 and right rear wing 4 maintain its fully unfolded position constant, see Fig. 7, subtract the lift on the flying robot left side
Little and aerodynamic center is offset to the right, causes left and right to rise force unbalance, and producing makes the rolling moment of flying robot's rolling to the left, reaches
To the purpose for replacing aileron structure to realize the control of flying robot's roll attitude.
(7), when flying robot's underriding motion is needed, the left front wing 5 and right front wing 6 become sweepback identical by deployed condition
Angle, the left back wing 3 and right rear wing 4 maintain its fully unfolded position constant, see Fig. 8, reduce the lift of flying robot front portion and
Moving after aerodynamic center, force unbalance is risen before and after flying robot, produces the torque for making flying robot bow, reaches replacement lifting
The purpose of flying robot's diving attitude control realized by rudder.
(8), when need flying robot climb motion when, the left back wing 3 and right rear wing 4 become sweepforward identical by deployed condition
Angle, the left front wing 5 and right front wing 6 maintain its fully unfolded position constant, see Fig. 9, reduce the lift at flying robot rear portion and
Aerodynamic center moves forward, and rises force unbalance, produce the torque for making flying robot come back before and after flying robot, reaches replacement lifting
Rudder is realized flying robot and is climbed the purpose of gesture stability.
Claims (3)
1. a kind of variable sweep angle launches tandem arrangement rotor flying robot, it is characterised in that：The flying robot includes to fold spiral
Oar (1), fuselage (2), the left back wing (3), right rear wing (4), the left front wing (5), right front wing (6), two vertical tails (7), two hang down
End pin axle (8) and four turning joints (9), fold head of the propeller (1) installed in fuselage (2), left front the wing (5) and right front wing
(6) both sides of fuselage (2) front end are symmetricly set on, and left back the wing (3) and right rear wing (4) are symmetricly set on the two of fuselage (2) rear end
Side, left front the wing (5), right front wing (6), the left back wing (3) and right rear wing (4) turning joint (9) respectively corresponding thereto is hinged, per
Individual turning joint (9) corresponding helm gear connection internal with fuselage (2), two vertical tails (7) are symmetricly set on fuselage
(2) both sides of tail end, and vertical tail (7) are by torsion spring on the upper surface of fuselage (2) afterbody.
2. a kind of variable sweep angle launches tandem arrangement rotor flying robot according to claim 1, it is characterised in that：The left front wing
(5) from the position parallel with fuselage (2), 0 °～90 ° are rotated forward with right front wing (6).
3. a kind of variable sweep angle launches tandem arrangement rotor flying robot according to claim 2, it is characterised in that：The left back wing
(3) with right rear wing (4) from the position back rotation 0 °～90 ° parallel with fuselage (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610997611.7A CN106428525B (en) | 2016-11-11 | 2016-11-11 | A kind of variable sweep angle ejection tandem arrangement rotor flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610997611.7A CN106428525B (en) | 2016-11-11 | 2016-11-11 | A kind of variable sweep angle ejection tandem arrangement rotor flying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106428525A true CN106428525A (en) | 2017-02-22 |
| CN106428525B CN106428525B (en) | 2019-09-13 |
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ID=58207564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610997611.7A Active CN106428525B (en) | 2016-11-11 | 2016-11-11 | A kind of variable sweep angle ejection tandem arrangement rotor flying robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106428525B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380402A (en) * | 2017-02-24 | 2017-11-24 | 南京柯尔航空科技有限公司 | A kind of folding wings unmanned plane |
| CN108100217A (en) * | 2017-12-29 | 2018-06-01 | 北京华信宇航科技有限公司 | A kind of unmanned vehicle based on X wings layout |
| CN108248315A (en) * | 2018-02-02 | 2018-07-06 | 浙江吉利控股集团有限公司 | Hovercar wing, hovercar, hovercar wing control method |
| CN109987217A (en) * | 2019-04-29 | 2019-07-09 | 北京驰宇空天技术发展有限公司 | Folding wings unmanned plane and its launching technique |
| CN110104160A (en) * | 2019-04-24 | 2019-08-09 | 北京航空航天大学 | Double-vane aircraft is folded away from coupling in one kind |
| CN110341951A (en) * | 2019-07-22 | 2019-10-18 | 中北大学 | A kind of unmanned vehicle of folding wing and tilting rotor |
| CN112158325A (en) * | 2020-09-30 | 2021-01-01 | 浙江大学 | Tailstock type vertical take-off and landing unmanned aerial vehicle and control method thereof |
| CN112829921A (en) * | 2019-11-25 | 2021-05-25 | 陈红明 | Structure, design method and application of deformable body aircraft product |
| CN114148506A (en) * | 2021-12-06 | 2022-03-08 | 浙江大学 | Foldable variant unmanned aerial vehicle and control method thereof |
| CN115946843A (en) * | 2023-03-14 | 2023-04-11 | 中国民用航空飞行学院 | Airplane tail wing and elevator jamming adjusting method |
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| CN102785778A (en) * | 2012-07-17 | 2012-11-21 | 王�华 | Tubular transmitting fire-extinguishing unmanned plane and fire-extinguishing control methods |
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| CN105460202A (en) * | 2015-11-30 | 2016-04-06 | 石家庄飞机工业有限责任公司 | Variable-wing unmanned aerial vehicle |
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| US2741444A (en) * | 1951-02-12 | 1956-04-10 | Baynes Aircraft Interiors Ltd | High speed aircraft having wings with variable sweepback |
| EP0101644A2 (en) * | 1982-08-25 | 1984-02-29 | Fuji Jukogyo Kabushiki Kaisha | Variable sweep forward wing aircraft |
| JP2006027588A (en) * | 2004-06-18 | 2006-02-02 | Ishikawajima Harima Heavy Ind Co Ltd | Small-sized flying device |
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| CN102785778A (en) * | 2012-07-17 | 2012-11-21 | 王�华 | Tubular transmitting fire-extinguishing unmanned plane and fire-extinguishing control methods |
| CN103587686A (en) * | 2013-12-02 | 2014-02-19 | 哈尔滨工业大学 | Catapulted folding wing flying robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380402B (en) * | 2017-02-24 | 2020-10-27 | 南京祖航航空科技有限公司 | Folding wing unmanned aerial vehicle |
| CN107380402A (en) * | 2017-02-24 | 2017-11-24 | 南京柯尔航空科技有限公司 | A kind of folding wings unmanned plane |
| CN108100217A (en) * | 2017-12-29 | 2018-06-01 | 北京华信宇航科技有限公司 | A kind of unmanned vehicle based on X wings layout |
| CN108248315A (en) * | 2018-02-02 | 2018-07-06 | 浙江吉利控股集团有限公司 | Hovercar wing, hovercar, hovercar wing control method |
| CN110104160A (en) * | 2019-04-24 | 2019-08-09 | 北京航空航天大学 | Double-vane aircraft is folded away from coupling in one kind |
| CN109987217A (en) * | 2019-04-29 | 2019-07-09 | 北京驰宇空天技术发展有限公司 | Folding wings unmanned plane and its launching technique |
| CN110341951A (en) * | 2019-07-22 | 2019-10-18 | 中北大学 | A kind of unmanned vehicle of folding wing and tilting rotor |
| CN110341951B (en) * | 2019-07-22 | 2023-07-07 | 山西通用航空无人机有限公司 | Unmanned aerial vehicle with foldable wings and tilting rotor wings |
| CN112829921A (en) * | 2019-11-25 | 2021-05-25 | 陈红明 | Structure, design method and application of deformable body aircraft product |
| CN112158325A (en) * | 2020-09-30 | 2021-01-01 | 浙江大学 | Tailstock type vertical take-off and landing unmanned aerial vehicle and control method thereof |
| CN114148506A (en) * | 2021-12-06 | 2022-03-08 | 浙江大学 | Foldable variant unmanned aerial vehicle and control method thereof |
| CN114148506B (en) * | 2021-12-06 | 2023-10-13 | 浙江大学 | Foldable variant unmanned aerial vehicle and control method thereof |
| CN115946843A (en) * | 2023-03-14 | 2023-04-11 | 中国民用航空飞行学院 | Airplane tail wing and elevator jamming adjusting method |
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