CN112278258A - Four-rotor unmanned aerial vehicle with foldable soft wing auxiliary flight mechanism - Google Patents
Four-rotor unmanned aerial vehicle with foldable soft wing auxiliary flight mechanism Download PDFInfo
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- CN112278258A CN112278258A CN202011251331.4A CN202011251331A CN112278258A CN 112278258 A CN112278258 A CN 112278258A CN 202011251331 A CN202011251331 A CN 202011251331A CN 112278258 A CN112278258 A CN 112278258A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 53
- 230000008602 contraction Effects 0.000 claims abstract description 15
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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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
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
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Abstract
The invention relates to the technical field of quad-rotor unmanned aerial vehicles, in particular to a quad-rotor unmanned aerial vehicle with a foldable soft wing auxiliary flight mechanism. The folding soft wing aircraft comprises an aircraft body, four main rotors arranged on two sides of the aircraft body and two folding soft wing mechanisms; the two folding soft wing mechanisms are respectively arranged on two sides of the machine body; when the two folding soft wing mechanisms are unfolded, auxiliary wings are formed on two sides of the fuselage. Two sides of the machine body are provided with contraction cavities; the two folding soft wing mechanisms are respectively accommodated in the contraction cavities at the two sides of the machine body. The invention improves the flight distance of the unmanned aerial vehicle, prolongs the endurance time and achieves the aim of improving the application operation capability of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of quad-rotor unmanned aerial vehicles, in particular to a quad-rotor unmanned aerial vehicle with a foldable soft wing auxiliary flight mechanism.
Background
With the development of MEMS sensor, brushless motor, single chip microcomputer and lithium battery technology, the four-rotor aircraft has become a back-start of model airplane. Compared with a fixed wing aircraft, the four-rotor aircraft has the characteristics of simple structure, very convenient control, capability of vertical take-off and landing, very low cost, high stability, very strong maneuverability and the like. But fly in some high altitude areas, because of the reduction of atmospheric air density, the required rotational speed of providing the same lift just needs to be increased, and power consumption increases, and the time of endurance reduces, and flying distance shortens, and unmanned aerial vehicle uses the operation ability to reduce.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a quad-rotor unmanned aerial vehicle with a folding soft wing auxiliary flight mechanism, so as to solve the problems of increased power consumption, low endurance time, short flight distance and lower application operation capability of the existing quad-rotor unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
a quad-rotor unmanned aerial vehicle with a folding soft wing auxiliary flight mechanism comprises a vehicle body, four main rotors arranged on two sides of the vehicle body, and two folding soft wing mechanisms;
the two folding soft wing mechanisms are respectively arranged on two sides of the machine body; when the two folding soft wing mechanisms are unfolded, auxiliary wings are formed on two sides of the fuselage.
Two sides of the machine body are provided with contraction cavities; the two folding soft wing mechanisms are respectively accommodated in the contraction cavities at the two sides of the machine body.
The folding soft wing mechanism comprises a folding support rod, a flexible soft wing panel assembly and a rotary driving mechanism, wherein the flexible soft wing panel assembly is arranged on the folding support rod, and the rotary driving mechanism is arranged on each joint of the folding support rod and is used for driving the folding or unfolding of the folding support rod.
Collapsible bracing piece is including articulated runing support I, runing support II and runing support III in proper order.
The flexible soft wing panel component comprises a flexible soft wing panel I, a flexible soft wing panel II and a flexible soft wing panel III, wherein the flexible soft wing panel I is arranged on the outer side of the rotary supporting rod I, and the flexible soft wing panel II is arranged between the rotary supporting rod I and the rotary supporting rod II; the flexible soft wing piece III is arranged between the rotary supporting rod II and the rotary supporting rod III.
The flexible soft wing piece I, the flexible soft wing piece II and the flexible soft wing piece III are all of triangular structures.
And clamping grooves used for being connected with the flexible soft fin component are formed in the side faces of the rotary supporting rod I, the rotary supporting rod II and the rotary supporting rod III.
The rotary driving mechanism comprises a direct current motor, a servo motor I and a servo motor II, wherein the direct current motor is arranged in the contraction cavity, and the output end of the direct current motor is connected with one end of the rotary supporting rod I;
the servo motor I is arranged at the other end of the rotary supporting rod I, and the output end of the servo motor I is connected with one end of the rotary supporting rod II;
the servo motor II is arranged at the other end of the rotary supporting rod II, and the output end of the servo motor II is connected with one end of the rotary supporting rod III.
The direct current motor is arranged at a position close to the machine head.
The contraction cavity is arranged between the two main rotors positioned on the same side, and is a strip-shaped groove arranged along the length direction of the fuselage.
The invention has the advantages and beneficial effects that: the invention improves the flight distance of the unmanned aerial vehicle, prolongs the endurance time and achieves the aim of improving the application operation capability of the unmanned aerial vehicle.
In the invention, under the multi-rotor flight mode, the folding soft wing mechanism is folded in the fuselage, and the unmanned aerial vehicle controls the flight by the main rotors on four shafts; at the supplementary flight mode of soft wing, by main rotor drive unmanned aerial vehicle to preceding flight, possess certain flying speed after, the flexible soft wing piece subassembly of collapsible bracing piece expansion of rotary driving mechanism drive forms the airfoil that possesses certain holding power, owing to have to preceding speed, the airfoil can produce lift, drives unmanned aerial vehicle flight.
Drawings
Fig. 1 is a schematic structural view of a quad-rotor drone with a folding soft-wing auxiliary flight mechanism according to the present invention in an unfolded state;
fig. 2 is a schematic structural view of a quad-rotor drone with a folding soft-wing auxiliary flight mechanism according to the present invention in a folded state;
fig. 3 is a schematic structural diagram of the folding type flexible wing mechanism in the invention.
In the figure: 1. a machine head; 2. a body; 3. a contracting cavity; 4. rotating the support rod I; 5. a flexible soft wing piece I; 6. a flexible soft wing panel II; 7. a direct current motor; 8. a servo motor I; 9. a servo motor II; 10. rotating the support rod II; 11. a flexible soft wing panel III; 12. rotating a support rod III; 13. a main rotor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the quad-rotor unmanned aerial vehicle with the folding soft-wing auxiliary flight mechanism provided by the invention comprises a vehicle body 2, four main rotors 13 arranged on two sides of the vehicle body 2, and two folding soft-wing mechanisms respectively arranged on two sides of the vehicle body 2; when the two folding soft wing mechanisms are unfolded, auxiliary wings are formed on two sides of the machine body 2.
In the embodiment of the invention, two sides of the machine body 2 are provided with the contraction cavities 3, and the two folding type soft wing mechanisms are respectively accommodated in the contraction cavities 3 on the two sides of the machine body 2. Specifically, the contraction cavity 3 is disposed between two main rotors 13 located on the same side, and the contraction cavity 3 is a strip-shaped groove disposed along the length direction of the fuselage 2.
In an embodiment of the invention, the folding soft wing mechanism comprises a folding support rod, a flexible soft wing panel assembly and a rotation driving mechanism, wherein the flexible soft wing panel assembly is arranged on the folding support rod, and the rotation driving mechanism is arranged on each joint of the folding support rod and is used for driving the folding or unfolding of the folding support rod.
As shown in fig. 1 and 3, the foldable support rod comprises a rotary support rod i 4, a rotary support rod ii 10 and a rotary support rod iii 12 which are hinged in sequence, the foldable support rod is used for supporting the flexible soft wing panel assembly in the soft wing assisted flight mode, and the flexible soft wing panel assembly can be driven to be folded when the soft wing assisted flight mode is closed. In this embodiment, the flexible soft wing panel assembly comprises a flexible soft wing panel I5, a flexible soft wing panel II 6 and a flexible soft wing panel III 11, wherein the flexible soft wing panel I5 is arranged on one side of the rotary support rod I4, and the flexible soft wing panel II 6 is arranged between the other side of the rotary support rod I4 and the rotary support rod II 10; the flexible soft wing piece III 11 is arranged between the rotary supporting rod II 10 and the rotary supporting rod III 12. Specifically, the flexible soft wing piece I5, the flexible soft wing piece II 6 and the flexible soft wing piece III 11 are all triangular structures.
Furthermore, the side surfaces of the rotary supporting rod I4, the rotary supporting rod II 10 and the rotary supporting rod III 12 are provided with clamping grooves used for being connected with the flexible soft wing piece component. Specifically, the flexible soft wing piece I5 is clamped in a clamping groove at one side of the rotary supporting rod I4; the flexible soft wing piece II 6 is clamped in a clamping groove at the other side of the rotary supporting rod I4 and a clamping groove at one side of the rotary supporting rod II 10; and the flexible soft wing piece III 11 is clamped in a clamping groove at the other side of the rotary support rod II 10 and a clamping groove on the rotary support rod III 12.
As shown in fig. 1 and 3, the rotation driving mechanism includes a dc motor 7, a servo motor i 8 and a servo motor ii 9, wherein the dc motor 7 is disposed in the contraction cavity 3 and is disposed at a position close to the handpiece 1, and an output end of the dc motor 7 is connected to one end of the rotation supporting rod i 4; the direct current motor 7 can drive the rotary supporting rod I4 to rotate by a certain angle to unfold the flexible soft wing piece I5, and also can reversely drive the rotary supporting rod I4 to rotate by a certain angle to retract the flexible soft wing piece assembly to the retraction cavity 3 on the machine body 2. The servo motor I8 is arranged at the other end of the rotary supporting rod I4, and the output end of the servo motor is connected with one end of the rotary supporting rod II 10; the servo motor II 9 is arranged at the other end of the rotary supporting rod II 10, and the output end of the servo motor II is connected with one end of the rotary supporting rod III 12.
During operation, the rotary supporting rod I4 is driven to rotate by the direct current motor 7, and the rotary supporting rod I4 is driven to rotate by a certain angle to unfold the flexible soft wing piece I5. The rotary supporting rod II 10 is driven to rotate by the servo motor I8, and the rotary supporting rod II 10 is driven to rotate by a certain angle to unfold the flexible soft wing piece II 6. The rotary supporting rod III 12 is driven to rotate by a servo motor II 9, and the rotary supporting rod III 12 is driven to rotate by a certain angle to unfold the flexible soft wing piece III 11. At this time, the flexible soft wing assembly is completely unfolded to form a complete flexible wing surface with a certain supporting force, as shown in fig. 1.
The rotary driving mechanism drives the foldable supporting rod to unfold the flexible soft wing panel component to form a wing surface with a certain supporting force; when the soft wing auxiliary flight mode is closed, the rotary driving mechanism can drive the foldable supporting rod to drive the flexible soft wing panel assembly to be folded and to be retracted into the airplane body.
In this embodiment, four rotor unmanned aerial vehicle are "worker" style of calligraphy overall arrangement four rotor unmanned aerial vehicle. In a multi-rotor flight mode, the folding soft wing mechanism is folded in a contraction cavity 3 on the airframe 1, and the unmanned aerial vehicle is controlled to fly by the main rotors 13 on the four shafts, as shown in fig. 2; under the supplementary flight mode of soft wing, by main rotor 13 drive unmanned aerial vehicle to preceding flight, possess certain flying speed after, the flexible soft wing piece subassembly of collapsible bracing piece expansion of rotary driving mechanism drive forms the airfoil that possesses certain holding power, owing to have preceding speed, the airfoil can produce lift, drives the flight of unmanned aerial vehicle.
The invention improves the flight distance of the unmanned aerial vehicle, prolongs the endurance time and achieves the aim of improving the application operation capability of the unmanned aerial vehicle.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A four-rotor unmanned aerial vehicle with a folding soft wing auxiliary flight mechanism comprises a vehicle body (2) and four main rotors (13) arranged on two sides of the vehicle body (2), and is characterized by further comprising two folding soft wing mechanisms;
the two folding soft wing mechanisms are respectively arranged on two sides of the machine body (2); when the two folding soft wing mechanisms are unfolded, auxiliary wings are formed on two sides of the fuselage (2).
2. The quad-rotor unmanned aerial vehicle with the foldable soft-wing auxiliary flight mechanism according to claim 1, wherein the fuselage (2) is provided with a contraction cavity (3) at two sides; the two folding soft wing mechanisms are respectively accommodated in the contraction cavities (3) at the two sides of the machine body (2).
3. The quad-rotor unmanned aerial vehicle with the foldable soft-wing assisted flight mechanism according to claim 2, wherein the foldable soft-wing mechanism comprises a foldable support rod, a flexible soft-wing assembly and a rotary driving mechanism, wherein the flexible soft-wing assembly is disposed on the foldable support rod, and the rotary driving mechanism is disposed on each joint of the foldable support rod for driving the foldable support rod to fold or unfold.
4. The quad-rotor unmanned aerial vehicle with the foldable soft-wing assisted flight mechanism according to claim 3, wherein the foldable support rods comprise a rotary support rod I (4), a rotary support rod II (10) and a rotary support rod III (12) which are hinged in sequence.
5. The quad-rotor unmanned aerial vehicle with the foldable soft wing assisted flight mechanism according to claim 4, wherein the flexible soft wing assembly comprises a flexible soft wing I (5), a flexible soft wing II (6) and a flexible soft wing III (11), wherein the flexible soft wing I (5) is arranged on the outer side of the rotating support rod I (4), and the flexible soft wing II (6) is arranged between the rotating support rod I (4) and the rotating support rod II (10); the flexible soft wing pieces III (11) are arranged between the rotary supporting rod II (10) and the rotary supporting rod III (12).
6. The quad-rotor unmanned aerial vehicle with the foldable soft wing auxiliary flight mechanism according to claim 5, wherein the flexible soft wing I (5), the flexible soft wing II (6) and the flexible soft wing III (11) are all triangular structures.
7. The quad-rotor unmanned aerial vehicle with the foldable soft wing assisted flight mechanism according to claim 4, wherein side surfaces of the rotary support rod I (4), the rotary support rod II (10) and the rotary support rod III (12) are provided with clamping grooves for connecting with the flexible soft wing assembly.
8. The quad-rotor unmanned aerial vehicle with the foldable soft-wing auxiliary flight mechanism according to claim 4, wherein the rotary driving mechanism comprises a direct current motor (7), a servo motor I (8) and a servo motor II (9), wherein the direct current motor (7) is arranged in the contraction cavity (3), and an output end of the direct current motor is connected with one end of the rotary supporting rod I (4);
the servo motor I (8) is arranged at the other end of the rotary supporting rod I (4), and the output end of the servo motor I is connected with one end of the rotary supporting rod II (10);
the servo motor II (9) is arranged at the other end of the rotary supporting rod II (10), and the output end of the servo motor II is connected with one end of the rotary supporting rod III (12).
9. The quad-rotor drone with a folding soft-wing assisted flight mechanism according to claim 8, characterized in that the direct current motor (7) is arranged in a position close to the nose (1).
10. The quad-rotor unmanned aerial vehicle with the foldable soft wing auxiliary flight mechanism according to claim 2, wherein the retraction cavity (3) is disposed between two main rotors (13) on the same side, and the retraction cavity (3) is a strip-shaped groove disposed along the length direction of the fuselage (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011251331.4A CN112278258A (en) | 2020-11-11 | 2020-11-11 | Four-rotor unmanned aerial vehicle with foldable soft wing auxiliary flight mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011251331.4A CN112278258A (en) | 2020-11-11 | 2020-11-11 | Four-rotor unmanned aerial vehicle with foldable soft wing auxiliary flight mechanism |
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| Publication Number | Publication Date |
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| CN112278258A true CN112278258A (en) | 2021-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011251331.4A Pending CN112278258A (en) | 2020-11-11 | 2020-11-11 | Four-rotor unmanned aerial vehicle with foldable soft wing auxiliary flight mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113173247A (en) * | 2021-05-07 | 2021-07-27 | 北京航空航天大学 | Bionic folding unmanned aerial vehicle using flexible airfoil |
| CN115230957A (en) * | 2022-07-01 | 2022-10-25 | 浙江大学 | Four-rotor flight mechanism combined with foldable batwing |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204433033U (en) * | 2015-02-12 | 2015-07-01 | 厦门大学 | A kind of VUAV with high lift device |
| CN205554578U (en) * | 2016-05-04 | 2016-09-07 | 北方民族大学 | High time of endurance's unmanned aerial vehicle device |
| CN108128449A (en) * | 2016-12-01 | 2018-06-08 | 及兰平 | Double mode rotary wing aircraft based on folding wing |
| CN108750081A (en) * | 2018-06-05 | 2018-11-06 | 中国人民解放军国防科技大学 | Tilting four-rotor-wing deformable aircraft |
| JP2020514185A (en) * | 2017-03-07 | 2020-05-21 | コルゴ システムズ エルティーディー | Folded wing multi-rotor |
| CN213649898U (en) * | 2020-11-11 | 2021-07-09 | 中国科学院沈阳自动化研究所 | Four-rotor unmanned aerial vehicle with foldable soft wing auxiliary flight mechanism |
-
2020
- 2020-11-11 CN CN202011251331.4A patent/CN112278258A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204433033U (en) * | 2015-02-12 | 2015-07-01 | 厦门大学 | A kind of VUAV with high lift device |
| CN205554578U (en) * | 2016-05-04 | 2016-09-07 | 北方民族大学 | High time of endurance's unmanned aerial vehicle device |
| CN108128449A (en) * | 2016-12-01 | 2018-06-08 | 及兰平 | Double mode rotary wing aircraft based on folding wing |
| JP2020514185A (en) * | 2017-03-07 | 2020-05-21 | コルゴ システムズ エルティーディー | Folded wing multi-rotor |
| CN108750081A (en) * | 2018-06-05 | 2018-11-06 | 中国人民解放军国防科技大学 | Tilting four-rotor-wing deformable aircraft |
| CN213649898U (en) * | 2020-11-11 | 2021-07-09 | 中国科学院沈阳自动化研究所 | Four-rotor unmanned aerial vehicle with foldable soft wing auxiliary flight mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113173247A (en) * | 2021-05-07 | 2021-07-27 | 北京航空航天大学 | Bionic folding unmanned aerial vehicle using flexible airfoil |
| CN113173247B (en) * | 2021-05-07 | 2022-12-09 | 北京航空航天大学 | Bionic folding unmanned aerial vehicle using flexible airfoil |
| CN115230957A (en) * | 2022-07-01 | 2022-10-25 | 浙江大学 | Four-rotor flight mechanism combined with foldable batwing |
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