CN109263940A - One kind is verted quadrotor - Google Patents
One kind is verted quadrotor Download PDFInfo
- Publication number
- CN109263940A CN109263940A CN201811274722.0A CN201811274722A CN109263940A CN 109263940 A CN109263940 A CN 109263940A CN 201811274722 A CN201811274722 A CN 201811274722A CN 109263940 A CN109263940 A CN 109263940A
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- CN
- China
- Prior art keywords
- rotor
- wing
- quadrotor
- fuselage
- flank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
- B64C5/06—Fins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
It verts quadrotor the invention discloses one kind, comprising: fuselage, wing, empennage, rotor inclining rotary mechanism, undercarriage；The wing includes flank and rotor, and the flank is set to the two sides of the fuselage, including left side flap and right side flap, and the rotor is installed on the aircraft by rotor inclining rotary mechanism；The preceding rotor, the left-handed wing and the dextrorotation wing are opposite with the rear installation direction of rotor；The empennage is set to afterbody, and the undercarriage is set to the bottom of the fuselage.Present invention incorporates multi-rotor aerocrafts and fixed wing aircraft in turn ensure flying speed of the aircraft in stabilized flight while the more rotor flight control techniques for taking full advantage of mature and reliable realize stable VTOL and hovering.
Description
Technical field
The present invention relates to vehicle technology field, more particularly to one kind is verted quadrotor.
Background technique
Since Lai Te brother's invention aircraft, people are exploring always VTOL while pursuing aircraft speed
Method；Alternatively, after realizing the function of VTOL, winged method before further exploring quickly.It therefore, can be vertical
Landing and the quick preceding winged aircraft of energy, are the dreams of several generations Flight Vehicle Design worker pursuit.Nowadays, exerting by several generations
Power proposes a variety of methods, this dream is made to become a reality.First method is that VTOL is realized on fixed wing aircraft,
The F-35B in such as U.S., Britain Harrier, but its VTOL low efficiency, power to weight ratio are usually less than 1kg/k W；The
Two kinds of methods are realized quickly on the helicopter with good vertical landing ability (power to weight ratio is usually 4kg/k W or so)
It is preceding to fly, such as the X3 that the U.S. X2, Ou Zhi for developing are developed, but its structure and manipulation are complicated；The third method is integrated direct
The tiltrotor aircraft for flying the two strong point before liter machine VTOL and fixed wing aircraft high speed, such as the V-22 in the U.S., BA-609
Deng, but vert transient process technology of its rotor is complicated, can be seen that its engineer application risk from the Frequent Accidents of V-22 in recent years
It is larger.
Therefore, further explore it is a kind of not only taken into account VTOL efficiency and quickly before winged ability, but also structure is simple, safety can
The new concept aircraft leaned on is still the problem of being those skilled in the art's urgent need to resolve.
Summary of the invention
In view of this, verting quadrotor the present invention provides one kind.
To achieve the goals above, the present invention adopts the following technical scheme:
One kind is verted quadrotor, comprising: fuselage, wing, empennage, rotor inclining rotary mechanism, undercarriage；
The wing includes flank and rotor, and the flank is set to the two sides of the fuselage, including left side flap and right side flap, institute
Rotor is stated to be installed on the aircraft by rotor inclining rotary mechanism；The rotor includes preceding rotor, rear rotor, the left-handed wing and the right side
Rotor, wherein the preceding rotor is set to the front of the fuselage, the rear rotor is set to the rear of the fuselage, the left side
Rotor is set to the front of the left side flap, and the dextrorotation wing is set to the front of the right side flap, the preceding rotor, the left-handed wing
It is opposite with the rear installation direction of rotor with the dextrorotation wing；
The empennage is set to afterbody, and the undercarriage is set to the bottom of the fuselage.
Having the beneficial effect that by adopting the above technical scheme
Present invention incorporates multi-rotor aerocrafts and fixed wing aircraft, in the more rotor flight control techniques for taking full advantage of mature and reliable
While realizing stable VTOL and hovering, flying speed of the aircraft in stabilized flight is in turn ensured.
Preferably, the cental axial position of the fuselage is provided through a connecting rod, for fixing the preceding rotor with after
Rotor, the flank are internally provided with two support rods being parallel to each other, and the support rod is perpendicular to the connecting rod and crosses
The fuselage is used to support the flank, rotor connecting rod, the rotor is respectively equipped in the left side flap and the right side flap
Connecting rod is for fixing the left-handed wing and the dextrorotation wing.
Preferably, the flank is streamlined, and the flank includes rudder face and aileron, and the aileron is arranged in the rudder face
Rear.
Preferably, the rotor inclining rotary mechanism includes pedestal, rotor bracket and worm gear structure, the pedestal be used for
The connecting rod and the rotor connecting rod are fixed, and the rotor bracket is connected with the worm gear structure, the worm gear snail
Rod structure drives the rotor holder pivots, and the rotor bracket is for being arranged the rotor, the rotor and the rotor branch
Frame forms integral structure common rotation, and the rotor is 90 degree by the maximum angle that worm gear structure rotates.
Preferably, the left-handed wing is identical with the direction of rotation of the dextrorotation wing, the preceding rotor and it is described after rotor
Direction of rotation is identical, and the direction of rotation of the left-handed wing and the preceding rotor is opposite.
Having the beneficial effect that by adopting the above technical scheme
The present invention use the diagonal consistent technical solution in rotor wing rotation direction, can be realized no matter under which mode adjoining spiral
Paddle reversely rotates, and can preferably keep the stabilization of aircraft, and makes to manipulate simpler convenience to the flight attitude of aircraft.
Preferably, the empennage includes bottom blade and vertical fin, and the bottom blade includes two panels, bottom leaf described in two panels
Piece connects to forming inverted V type, and the vertical fin is vertically installed in the joint of the bottom blade, and the rear end of the bottom blade is equipped with
The rear end of elevator, the vertical fin is equipped with rudder.
Having the beneficial effect that using the above scheme
The stability of empennage, and its small volume are increased using inverted V type empennage, it is lighter using material, comparatively, it is more suitable for
It is used in aircraft.
Preferably, the empennage is connected by empennage connecting rod with the flank.
Preferably, the undercarriage is set to the fuselage bottom.
Preferably, the aircraft further includes propulsion system, the propulsion system include motor, electron speed regulator, power supply,
Retarder and steering engine, the power supply control aircraft by control motor and retarder for providing electric power, the governor
Flying speed, and the governor can regulate and control the revolving speed of four rotors respectively, and the steering engine is for controlling
The direction of the aircraft.
Preferably, the operating mode of the aircraft includes quadrotor mode, vert transition mode and fixed-wing mode；Institute
State quadrotor mode and realize by the revolving speed of rotor the movement of pitching, rolling and yaw；The transition mode that verts passes through institute
The rudder face of the rotational speed difference and the flank of stating rotor cooperates to realize pitching, rolling and the movement of yaw；The fixed-wing mould
Formula manipulates aileron, rudder, lifting rudder kick by steering engine to realize pitching, rolling and the movement of yaw.
It can be seen via above technical scheme that compared with prior art, vert quadrotor the present disclosure provides one kind
Aircraft, present invention incorporates multi-rotor aerocraft and fixed wing aircraft, the more rotors for taking full advantage of mature and reliable fly control skill
Art realizes stable VTOL and hovering, and the substep mode of verting improves safety during verting, with
When fixed-wing mode flight, fly before can be realized high speed, and quadrotor offline mode and fixed-wing offline mode are mutually converted
When, substantially increase the feasibility of the aircraft manipulating principle and software and hardware technology.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is structural schematic diagram provided by the invention；
Wherein: 1- fuselage, 2- wing, 210- flank, 211- left side flap, 212- right side flap, 213- rudder face, 214- aileron, 220-
The left-handed wing of rotor, 223-, the 224- dextrorotation wing, 3- empennage, 310- bottom blade, 311- hang down after rotor, 222- before rotor, 221-
Tail, 312- elevator, 313- rudder, 4- rotor inclining rotary mechanism, 410- pedestal, 411- rotor bracket, 412- worm and gear knot
Structure, 5- undercarriage, 6- connecting rod, 7- support rod, 8- rotor connecting rod, 9- empennage connecting rod.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, verting quadrotor the embodiment of the invention discloses one kind, comprising: fuselage 1, wing 2, tail
The wing 3, rotor inclining rotary mechanism 4, undercarriage 5；
The wing 2 includes flank 210 and rotor 220, and the flank 210 is set to the two sides of the fuselage 1, including left side flap
211 and right side flap 212, the rotor 220 is installed on the aircraft by rotor inclining rotary mechanism 4；The rotor 220 includes
Preceding rotor 221, rear rotor 222, the left-handed wing 223 and the dextrorotation wing 224, wherein before the preceding rotor 221 is set to the fuselage 1
Side, the rear rotor 222 are set to the rear of the fuselage 1, and the left-handed wing 223 is set to the front of the left side flap 211,
The dextrorotation wing 224 is set to the front of the right side flap 212, the preceding rotor 221, the left-handed wing 223 and the dextrorotation wing 224 with
The installation direction of rotor 222 is opposite after described；
The empennage 3 is set to 1 tail portion of fuselage, and the undercarriage 5 is set to the bottom of the fuselage 1.
Further, the cental axial position of the fuselage 1 is provided through a connecting rod 7, for fixing the preceding rotor
221 and rear rotor 222, the flank 210 be internally provided with two support rods being parallel to each other 7, the support rod 7 is perpendicular to institute
It states connecting rod 7 and crosses the fuselage 1, be used to support the flank 210, divide in the left side flap 211 and the right side flap 212
Not She You rotor connecting rod 8, the rotor connecting rod 8 is for fixing the left-handed wing 223 and the dextrorotation wing 224.
Further, the flank 210 is streamlined, and the flank 210 includes rudder face 213 and aileron 214, the aileron
214 are arranged in the rear of the rudder face 213.
Further, the rotor inclining rotary mechanism 4 includes pedestal 410, rotor bracket 411 and worm gear structure 412, institute
Pedestal 410 is stated for fixed, the rotor bracket 411 and the worm and gear with the connecting rod 7 and the rotor connecting rod 8
Structure 412 is connected, and the worm gear structure 412 drives the rotor bracket 411 to rotate, and the rotor bracket 411 is for setting
The rotor 220 is set, the rotor 220 forms integral structure common rotation with the rotor bracket 411, and the rotor 220 is logical
The maximum angle for crossing the rotation of worm gear structure 412 is 90 degree.
Further, the left-handed wing 223 is identical with the direction of rotation of the dextrorotation wing 224, the preceding rotor 221 and institute
The direction of rotation for stating rear rotor 222 is identical, and the left-handed wing 223 is opposite with the direction of rotation of the preceding rotor 221.
Further, the empennage 3 include bottom blade 310 and vertical fin 310, the bottom blade 310 include two panels, two
Bottom blade 310 described in piece connects to forming inverted V type, and the vertical fin 310 is vertically installed in the joint of the bottom blade 310,
The rear end of the bottom blade 310 is equipped with elevator 312, and the rear end of the vertical fin 310 is equipped with rudder 313.
Further, the empennage 3 is connected by empennage connecting rod 9 with the flank 210.
Further, the undercarriage 5 is set to 1 bottom of fuselage.
Further, the aircraft further includes propulsion system, and the propulsion system includes motor, electron speed regulator, electricity
Source, retarder and steering engine, the power supply control flight by control motor and retarder for providing electric power, the governor
The flying speed of device, and the governor can regulate and control the revolving speed of four rotors 220 respectively, the steering engine is used for
Control the direction of the aircraft.
Further, the operating mode of the aircraft includes quadrotor mode, vert transition mode and fixed-wing mode；
The quadrotor mode realizes the movement of pitching, rolling and yaw by the revolving speed of rotor 220；
The transition mode that verts is cooperated by the rotational speed difference of the rotor 220 and the rudder face 213 of the flank 210 to realize
The movement of pitching, rolling and yaw；
The fixed-wing mode realizes pitching, rolling by steering engine manipulation aileron 214, rudder 313, the deflection of elevator 312
With the movement of yaw.
The operation principle of the present invention is that:
One kind disclosed in this invention is verted quadrotor, provides electric power by power supply, governor is according to the tune received
The instruction of whole posture controls the flying speed of aircraft to control motor and retarder to carry out different movement adjustment,
Middle governor can the revolving speed to four rotors 220 regulate and control respectively, steering engine is used to control the direction of the aircraft.
The takeoff phase present invention is worked using quadrotor mode, and four rotors 220 rotate realization respectively and go straight up to, and is mainly led to
The revolving speed of four rotors 220 of adjustment is crossed to realize pitching, rolling and the movement of yaw.
When aircraft is from takeoff phase to when stabilized flight condition transition, aircraft enters the transition mode that verts, and verts
The mode of crossing is broadly divided into two steps, the first step, and the left-handed wing 223 and the dextrorotation wing 224 first vert, and second, the left-handed wing 223 and the dextrorotation wing
224 vert after completion, and front and back rotor 222 verts again, and the pose adjustment of aircraft mainly passes through rotation during verting
The rotational speed difference of the wing 220 and the rudder face 213 of flank 210 cooperate to realize, during the first step is verted, height and forward flight speed
Control: increasing the revolving speed of preceding rotor 221 and rear rotor 222, keeps height or rises；Increase the left-handed wing 223 and the dextrorotation wing 224
Revolving speed mainly improves forward flight speed.
When aircraft stabilized flight, rear rotor 222 rotates angle backward, other 220 rotational angles of rotor forward, at this time
Pulling force when flying before being provided by rotor 220；Therefore, to increase forward flight speed when flight, by increasing by 220 revolving speed of rotor
It realizes；And to realize aircraft maneuvers such as pitching, rolling, yaw in flight course, then it needs to manipulate by steering engine secondary
The wing 214, rudder 313, the deflection of elevator 312 are to realize.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
- The quadrotor 1. one kind is verted characterized by comprising fuselage (1), wing (2), empennage (3), rotor vert machine Structure, undercarriage (5)；The wing (2) includes flank (210) and rotor (220), and the flank (210) is set to the fuselage (1) two sides, including left side flap (211) and right side flap (212), the rotor (220) are installed on institute by rotor inclining rotary mechanism It states on aircraft；The rotor (220) includes preceding rotor (221), rear rotor (222), the left-handed wing (223) and the dextrorotation wing (224), Wherein the preceding rotor (221) is set to the front of the fuselage (1), and the rear rotor (222) is set to the fuselage (1) Rear, the left-handed wing (223) are set to the front of the left side flap (211), and the dextrorotation wing (224) is set to the right side The front of the wing (212), the peace of the preceding rotor (221), the left-handed wing (223) and the dextrorotation wing (224) with the rear rotor (222) It fills contrary；The empennage (3) is set to fuselage (1) tail portion, and the undercarriage (5) is set to the bottom of the fuselage (1).
- The quadrotor 2. one kind according to claim 1 is verted, which is characterized in that the central axis of the fuselage (1) Position is provided through a connecting rod (7), for fixing the preceding rotor (221) and rear rotor (222), the flank (210) Two support rods being parallel to each other (7) are internally provided with, the support rod (7) is perpendicular to the connecting rod (7) and crosses described Fuselage (1) is used to support the flank (210), is respectively equipped with rotor in the left side flap (211) and the right side flap (212) Connecting rod (8), the rotor connecting rod (8) is for fixing the left-handed wing (223) and the dextrorotation wing (224).
- The quadrotor 3. one kind according to claim 3 is verted, which is characterized in that the flank (210) is in streamline Type, the flank (210) include rudder face (213) and aileron (214), and the aileron (214) is arranged after the rudder face (213) Side.
- The quadrotor 4. one kind according to claim 2 is verted, which is characterized in that the rotor inclining rotary mechanism includes Pedestal (410), rotor bracket (411) and worm gear structure (412), the pedestal (410) be used for the connecting rod (7) and The rotor connecting rod (8) is fixed, and the rotor bracket (411) is connected with the worm gear structure (412), the worm gear snail Rod structure (412) drives rotor bracket (411) rotation, and the rotor bracket (411) is used to that the rotor (220) to be arranged, The rotor (220) and the rotor bracket (411) form integral structure common rotation, and the rotor (220) passes through worm gear snail The maximum angle of rod structure (412) rotation is 90 degree.
- The quadrotor 5. one kind according to claim 1 is verted, which is characterized in that the left-handed wing (223) and institute The direction of rotation for stating the dextrorotation wing (224) is identical, and the preceding rotor (221) is identical with the rear direction of rotation of rotor (222), institute The direction of rotation for stating the left-handed wing (223) and the preceding rotor (221) is opposite.
- The quadrotor 6. one kind according to claim 1 is verted, which is characterized in that the empennage (3) includes bottom Blade (310) and vertical fin (310), the bottom blade (310) include two panels, and bottom blade described in two panels (310) connects to being formed Inverted V type, the vertical fin (310) are vertically installed in the joint of the bottom blade (310), after the bottom blade (310) End is equipped with elevator (312), and the rear end of the vertical fin (310) is equipped with rudder (313).
- The quadrotor 7. one kind according to claim 1 is verted, which is characterized in that the empennage (3) passes through empennage Connecting rod (9) is connected with the flank (210).
- The quadrotor 8. one kind according to claim 1 is verted, which is characterized in that the undercarriage (5) is set to Fuselage (1) bottom.
- The quadrotor 9. one kind according to claim 1 is verted, which is characterized in that the aircraft further includes promoting System, the propulsion system include motor, electron speed regulator, power supply, retarder and steering engine, and the power supply is used to provide electric power, The governor controls the flying speed of aircraft by control motor and retarder, and the governor is to four rotations The revolving speed of the wing can be regulated and controled respectively, and the steering engine is used to control the direction of the aircraft.
- 10. one kind described in -9 is verted quadrotor according to claim 1, which is characterized in that the work of the aircraft Mode includes quadrotor mode, vert transition mode and fixed-wing mode；The quadrotor mode passes through the revolving speed of rotor (220) To realize pitching, rolling and the movement of yaw；The transition mode that verts passes through the rotational speed difference of the rotor (220) and described The rudder face (213) of flank (210) cooperates to realize pitching, rolling and the movement of yaw；The fixed-wing mode is grasped by steering engine Vertical aileron (214), rudder (313), elevator (312) deflection are to realize pitching, rolling and the movement of yaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811274722.0A CN109263940A (en) | 2018-10-30 | 2018-10-30 | One kind is verted quadrotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811274722.0A CN109263940A (en) | 2018-10-30 | 2018-10-30 | One kind is verted quadrotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109263940A true CN109263940A (en) | 2019-01-25 |
Family
ID=65195241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811274722.0A Withdrawn CN109263940A (en) | 2018-10-30 | 2018-10-30 | One kind is verted quadrotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109263940A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112874772A (en) * | 2021-03-29 | 2021-06-01 | 兰州山河上空智能科技有限公司 | Tilting composite wing aircraft mainly based on multi-rotor framework |
| CN113002769A (en) * | 2021-03-11 | 2021-06-22 | 北京航空航天大学 | Longitudinal rotor-tilt rotor combined type aircraft |
| CN116080945A (en) * | 2022-12-08 | 2023-05-09 | 深圳市生态环境智能管控中心 | Multi-rotor unmanned aerial vehicle capable of switching flight postures and flight method |
-
2018
- 2018-10-30 CN CN201811274722.0A patent/CN109263940A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113002769A (en) * | 2021-03-11 | 2021-06-22 | 北京航空航天大学 | Longitudinal rotor-tilt rotor combined type aircraft |
| CN112874772A (en) * | 2021-03-29 | 2021-06-01 | 兰州山河上空智能科技有限公司 | Tilting composite wing aircraft mainly based on multi-rotor framework |
| CN116080945A (en) * | 2022-12-08 | 2023-05-09 | 深圳市生态环境智能管控中心 | Multi-rotor unmanned aerial vehicle capable of switching flight postures and flight method |
| CN116080945B (en) * | 2022-12-08 | 2023-10-20 | 深圳市生态环境智能管控中心 | Multi-rotor unmanned aerial vehicle capable of switching flight postures and flight method |
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Application publication date: 20190125 |
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