CN112520024A

CN112520024A - Tilt wing unmanned aerial vehicle

Info

Publication number: CN112520024A
Application number: CN202011516772.2A
Authority: CN
Inventors: 陈超; 周泳涛
Original assignee: Hangzhou Juyong Technology Co ltd
Current assignee: Chen Chao
Priority date: 2020-12-21
Filing date: 2020-12-21
Publication date: 2021-03-19

Abstract

The invention discloses a tilt wing unmanned aerial vehicle, which comprises a fuselage (1), wherein a wing driving mechanism (10) is arranged in the fuselage (1), a rotating shaft (2) is arranged on the fuselage (1), wings (3) are arranged on two sides of the fuselage (1), the end part of the rotating shaft (2) is connected with the wings (3) through a rotating mechanism (50), a propeller (4) is arranged on the rotating mechanism (50), the rotating mechanism (50) comprises a support (500), a rotating shaft (2) is connected with a propeller (4) through the support (500), a spring (505) is arranged between the support (500) and the wing (3), a rotating motor (501) is arranged on the support (500), a first rotating rod (502) is arranged at the output end of the rotating motor (501), a second rotating rod (503) is hinged to the end portion of the first rotating rod (502), and the second rotating rod (503) is rotatably connected with the wing (3) through a first hinging seat (504). The invention has the advantages of long service life, good cruising ability, difficult occurrence of flight accidents and simple maintenance.

Description

Tilt wing unmanned aerial vehicle

Technical Field

The invention belongs to the field of tilt-turn wing unmanned aerial vehicles.

Background

The structure of the existing tilting wing unmanned aerial vehicle (called an unmanned aerial vehicle for short) comprises a fuselage 1, a wing driving mechanism is arranged in the fuselage 1, a rotating shaft 2 connected with the wing driving mechanism horizontally penetrates through the fuselage 1, wings 3 are arranged on two sides of the fuselage 1, the end part of the rotating shaft 2 is connected with the wings 3 through a rotating mechanism, a propeller 4 is arranged on the rotating mechanism, the propeller 4 is always positioned on the front side of the wings 3, the wing driving mechanism can drive the wings 3 to rotate around the rotating shaft 2 through the rotating shaft 2, and the rotating mechanism can drive the wings 3 to rotate, so that the wings 3 can realize universal rotation; the rear side of the wing 3 is provided with a rotatable aileron 5, the rear side of the fuselage 1 is provided with a horizontal tail wing 6, the top of the horizontal tail wing 6 is provided with a vertical tail wing 7, the rear side of the horizontal tail wing 6 is provided with an elevator 8 (provided with an elevator control system) which is connected in a rotating manner, the elevator 8 is used for changing the pitching flight state of the unmanned aerial vehicle, the horizontal tail wing 6 and the vertical tail wing 7 are both provided with tail slurry 9, the fuselage 1 is internally provided with a wing control system, an aileron control system and a tail slurry control system, the wing control system controls the rotation of the wing 3, the aileron control system controls the rotation of the aileron 5, and the tail slurry control system controls. The flight attitude of the unmanned aerial vehicle comprises a flat flight state and a hovering state, the unmanned aerial vehicle takes off and lands in the hovering state, and wings on two sides are used as landing gears during taking off and landing.

The whole rigid structure that is of current unmanned aerial vehicle, and can not accomplish steady slow descending under the prior art, the speed of descending is very fast, can produce the impact force with the ground striking, and the impact force transmits rotary mechanism through the wing, leads to rotary mechanism to break down easily to unmanned aerial vehicle's life is shorter.

The existing wing driving mechanism comprises a driving motor 100 (also called a steering engine) with self-locking force, a driving gear is arranged on the driving motor 100, the driving gear is connected with a rotating shaft 2 through a driven gear, the driving motor 100 drives the rotating shaft 2 to rotate in one direction through a driving wheel and a driven wheel, when an unmanned aerial vehicle is in a stable flat flight state, the state of a wing 3 is kept unchanged, the wing 3 is influenced by airflow and stressed, and has a rotation trend, the stress of the wing 3 is transmitted to the driving motor 100 through a rotating mechanism 50, the rotating shaft 2, the driven gear and the driving gear, and is overcome by the locking force of the driving motor 100, namely, in the stable flat flight process of the unmanned aerial vehicle, the driving motor 100 is stressed for a long time, and the driving motor 100 is easy to damage. The driving motor 100 provides self-locking force by the locked torque of the driving motor 100, and the service life of the driving motor 100 with the working voltage of 6V and the locked torque of 20kg.cm is 2800-3500 hours. Moreover, when the unmanned aerial vehicle flies at a high speed, the stress of the wing 3 is large, so that the locking force of the driving motor 100 is not enough, the state of the wing 3 is changed, the flying posture of the unmanned aerial vehicle is out of control, and the flying accident is caused.

The driving gear and the driven gear (gear pair) in the existing wing driving mechanism are required to be matched very accurately, and if the wing 3 is easy to shake, the wing driving mechanism puts high requirements on processing and installation, so that the manufacturing cost of the existing wing driving mechanism is high.

The existing wing driving mechanism has high requirements on the use environment, a dust-proof box cover needs to be arranged outside the wing driving mechanism for preventing dust from entering a gear pair to cause clamping stagnation, the weight is increased, the wind resistance is high, the cruising ability of the unmanned aerial vehicle is reduced more, lubricating oil needs to be added periodically, and the maintenance is troublesome. In addition, the existing wing driving mechanism is only used when the driving motor 100 is close to the rotating shaft 2, and the application range is small. And the gear pair is rigid connection, and shock resistance and shock attenuation nature are relatively poor for gear pair easily appears the gear teeth rupture, flank pitting corrosion, flank of tooth wearing and tearing, flank of tooth veneer and plastic deformation scheduling problem, leads to also shorter life, takes the gear pair of aviation aluminum alloy material as an example, and life is only about 10000 hours.

The existing flight control method of the unmanned aerial vehicle comprises the steps of controlling the unmanned aerial vehicle in a flat flight state to roll, controlling the unmanned aerial vehicle in a hovering state to advance, retreat and turn,

when the unmanned aerial vehicle is in a flat flight state, the wings 3 are kept in a horizontal state, the length direction of the wings is perpendicular to the fuselage 1, and the ailerons 5 are parallel to the wings 3. When controlling unmanned aerial vehicle side direction and rolling, as shown in fig. 15, make two ailerons 5 upwards respectively and rotate downwards through aileron control system, with produce the contained angle between the wing 3, thereby make the downwash air current that screw 4 produced produce the power of equidirectional on two ailerons 5, thereby produce rolling moment, make unmanned aerial vehicle roll, but corresponding aileron 5 leads to downwash air velocity to slow down, thrust to unmanned aerial vehicle reduces, make screw 4 must increase a lot of power in order to maintain original flight speed, thereby lead to unmanned aerial vehicle duration to be relatively poor. In addition, when the unmanned aerial vehicle flies at a high speed, the unmanned aerial vehicle can not be operated due to the fact that 'aileron counter effect' can be caused.

When the unmanned aerial vehicle is in a hovering state, the wings 3 are kept in a vertical state, and the length direction of the wings is perpendicular to the fuselage 1. When controlling unmanned aerial vehicle to turn to, as shown in fig. 16, make two ailerons 5 respectively the front and back side rotate through aileron control system to make the lower washing air current of screw 4, produce the different component of direction on two ailerons 5, thereby produce first torsion, the tail pulp control system control horizontal fin 6 on the tail pulp 9 change the rotational speed simultaneously, thereby produce second torsion, under these two torsion effects, unmanned aerial vehicle takes place to turn to. Because the aileron 5 slope has hindered the flow of downwash for downwash velocity reduces, and unmanned aerial vehicle's lift reduces, thereby needs to improve the rotational speed of screw 4, with the state of hovering that maintains unmanned aerial vehicle, thereby leads to unmanned aerial vehicle's time of endurance to reduce.

Control unmanned aerial vehicle and advance or when retreating, be the rotational speed that changes tail stock 9 on the horizontal fin 6 through tail stock control system, the lift of tail stock 9 changes, unmanned aerial vehicle's rear end rises or descends, unmanned aerial vehicle and ground produce the contained angle, unmanned aerial vehicle is in the dive or the state of lifting up to also produce the contained angle between the lower washing air current of screw 4 and the ground, produce the promotion component force of level to, promote unmanned aerial vehicle and advance or retreat. But this also results in a reduction in the thrust at which the drone remains hovering, so the rotation speed of the propeller 4 must be increased to maintain the hovering state of the drone, the power of the drone increases and the endurance time decreases. In addition, the windward side of the wing 3 is large in the hovering state, so that the resistance of the unmanned aerial vehicle in advancing and retreating is large, the endurance time of the unmanned aerial vehicle is reduced, and in strong wind weather, the wing 3 is greatly influenced by wind force, and the stability of the unmanned aerial vehicle is difficult to maintain.

The realization of the existing unmanned aerial vehicle control method requires that the unmanned aerial vehicle is provided with a tail pulp 9, an aileron 5, an aileron control system and a tail pulp control system, and the unmanned aerial vehicle has a large number of parts, so that the total weight of the unmanned aerial vehicle is large, and the endurance is poor; and the structures of the aileron control system and the tail rotor control system are very complicated, so that the unmanned aerial vehicle is easy to break down.

Therefore, the existing unmanned aerial vehicle has the defects of short service life, poor cruising ability, easy occurrence of flight accidents and troublesome maintenance.

Disclosure of Invention

The invention aims to provide a tilt wing unmanned aerial vehicle. The invention has the advantages of long service life, good cruising ability, difficult occurrence of flight accidents and simple maintenance.

The technical scheme of the invention is as follows: the utility model provides an unmanned aerial vehicle with tilting wings, includes the fuselage, is equipped with wing actuating mechanism in the fuselage, and the fuselage is improved level and is violently worn the pivot of being connected with wing actuating mechanism, and the both sides of fuselage all are equipped with the wing, and the tip of pivot passes through rotary mechanism and connects the wing, is equipped with the screw on the rotary mechanism, rotary mechanism includes the support, and the support is passed through in the pivot and is connected the screw, and the support rotates with the wing to be connected, is equipped with the spring between support and the wing, is equipped with the rotating electrical machines on the support, and the output of rotating electrical machines is equipped with first commentaries on classics stick, and the tip of first commentaries on classi.

In the unmanned aerial vehicle with the tilt wings, a rotating shaft is arranged between the support and the wings, a shaft sleeve which is penetrated by one end of the rotating shaft is arranged on the support, a second hinged seat which is penetrated by the other end of the rotating shaft is arranged on the wings, and a spring which is sleeved on the rotating shaft is arranged between the shaft sleeve and the second hinged seat.

In the unmanned aerial vehicle with the tilt wings, a rotating shaft is arranged between the support and the wings, a shaft sleeve which is penetrated through the middle of the rotating shaft is arranged on the support, two second hinged seats which are penetrated through two ends of the rotating shaft respectively are arranged on the wings, and a spring is arranged between one second hinged seat and the shaft sleeve.

In the aforesaid tilt wing unmanned aerial vehicle, wing actuating mechanism, including fixing the driving motor in the fuselage, the driving motor output is equipped with first bull stick, and third bull stick is connected through length-adjustable's second bull stick to first bull stick, and the tip of third bull stick is equipped with the lantern ring that is used for being connected with the pivot.

In the unmanned aerial vehicle with the tilt wings, the two ends of the second rotating rod are provided with threads, the threads at the two ends of the second rotating rod are opposite in rotating direction, the two ends of the second rotating rod are respectively connected with a threaded sleeve in a threaded manner, one threaded sleeve is connected with the first rotating rod in a rotating manner, and the other threaded sleeve is connected with the third rotating rod in a rotating manner.

In the tilt-wing drone, one of the screw sleeves is rotatably connected with the first rotating rod through a first bearing, and the other screw sleeve is rotatably connected with the third rotating rod through a second bearing.

In the aforesaid tilt wing unmanned aerial vehicle, be equipped with the opening on the lantern ring, the open-ended both sides extend to the outside respectively and form first connecting portion and second connecting portion, are equipped with the step hole on the first connecting portion, the tip butt of third bull stick is on the bottom surface in step hole, the tip of third bull stick extend to the second connecting portion and with the second connecting portion spiro union.

In the aforesaid tilt wing unmanned aerial vehicle, be equipped with logical groove on the third bull stick, it is equipped with two at least through-holes to correspond logical groove department, is equipped with the commentaries on classics round pin in one of them through-hole, and the third bull stick rotates through changeing round pin and second bull stick to be connected.

In the tilt-wing unmanned aerial vehicle, the middle part of the second rotating rod bulges outwards to form a polygonal column.

In the tilt-wing unmanned aerial vehicle, the flight control method of the unmanned aerial vehicle controls the following actions of the unmanned aerial vehicle,

lateral rolling: the unmanned aerial vehicle is kept in a flat flying state, wings are kept in a horizontal state and are vertical to a machine body in the length direction, and the unmanned aerial vehicle rolls laterally by adjusting the vertical upward included angle of the two wings;

turning: the unmanned aerial vehicle is kept in a hovering state, wings are kept in a vertical state in the hovering state, the long directions of the wings are parallel to the fuselage, and the unmanned aerial vehicle is steered by adjusting the included angle between the wings and the fuselage 1;

low-speed forward flight: the unmanned aerial vehicle is kept in a hovering state, and the front ends of the two wings are close to the inner side, so that the unmanned aerial vehicle flies forwards at a low speed;

low-speed backward flight: keep unmanned aerial vehicle at the state of hovering, draw close the rear end of two wings to the inboard, realize unmanned aerial vehicle's low-speed backward flight.

In the tilt-wing unmanned aerial vehicle, the lateral rolling is to keep the unmanned aerial vehicle in a flat flight state, and the inner side end of the right wing is tilted upwards by deflecting the right wing of the unmanned aerial vehicle, so that the unmanned aerial vehicle rolls rightwards; by deflecting the left wing, the inner side end of the left wing is tilted upwards, and the unmanned aerial vehicle rolls leftwards.

In the tilt-wing unmanned aerial vehicle, during the lateral rolling, the angular acceleration of the unmanned aerial vehicle rolling to the right is changed by changing the deflection angle of the right wing; the angular acceleration of the unmanned aerial vehicle rolling leftwards is changed by changing the deflection angle of the left wing.

In the unmanned aerial vehicle with the tilt wings, the unmanned aerial vehicle is kept in a hovering state, and the front side ends of the two wings are deflected leftwards synchronously, so that the unmanned aerial vehicle is turned leftwards; rotate the preceding side of two wings in step right, realize unmanned aerial vehicle's turn right.

In the unmanned aerial vehicle with the tilt wings, in the steering process, the angular acceleration of the left turn of the unmanned aerial vehicle is changed by changing the angle of the left deflection of the two wings; and the right-turning angular acceleration of the unmanned aerial vehicle is changed by changing the right-turning angles of the two wings.

Among the aforesaid unmanned aerial vehicle with wings verts, the low-speed flies forward, keeps unmanned aerial vehicle at the state of hovering, draws close the front end inboard of two wings to keep two wings to distribute about 1 mirror image of fuselage, realize unmanned aerial vehicle's low-speed and fly forward.

Among the aforesaid unmanned aerial vehicle with tilt wings, during low-speed forward flight, through changing the contained angle between two wings, change unmanned aerial vehicle's flight angular acceleration.

Among the aforementioned wing unmanned aerial vehicle verts, low-speed backward flight is to keep unmanned aerial vehicle at the state of hovering, draws close the rear end of two wings to inboard in step to keep two wings to distribute about 1 mirror image of fuselage, realize unmanned aerial vehicle's low-speed backward flight.

Among the aforesaid vert wing unmanned aerial vehicle, during the low-speed backward flight, through changing the contained angle between two wings, change unmanned aerial vehicle's flight angular acceleration.

Compared with the prior art, the unmanned aerial vehicle is an improvement on the basis of the existing unmanned aerial vehicle, and mainly improves a rotating mechanism, a wing driving mechanism and a flight control method. The spring is arranged on the rotating mechanism, so that impact force generated by collision between the unmanned aerial vehicle and the ground is absorbed by the spring when the unmanned aerial vehicle lands, the impact force is reduced, and through experimental calculation, the impact force can be reduced by 35%, so that the rotating mechanism is not easy to break down, the average service life of the rotating mechanism can be increased by 50%, and the service life of the unmanned aerial vehicle is prolonged.

According to the wing driving mechanism, the four-bar mechanism is formed between the driving motor and the rotating shaft through the first rotating rod, the second rotating rod and the third rotating rod, and has self-locking capacity, namely when the unmanned aerial vehicle stably flies flatly (at the moment, the long direction of the wing is perpendicular to the body of the unmanned aerial vehicle, and the width direction of the wing is parallel to the flying direction), the four-bar mechanism is in a self-locking state, the rotating shaft can be prevented from rotating, so that the driving motor is prevented from being stressed, the driving motor is stressed only when in work, namely the driving motor is stressed only when the unmanned aerial vehicle changes the flying posture, so that the stress time is greatly reduced, and the driving motor is not easy. Taking a driving motor with the working voltage of 6V and the locked-rotor torque of 20kg.cm as an example, the service life can be prolonged to 5000-6000 hours. Because four-bar linkage can lock the countershaft, and driving motor's locking force also can be extra provides the pivot with locking force to ensure that the pivot can not take place to rotate when unmanned aerial vehicle is steadily flat to fly, thereby unmanned aerial vehicle's flight gesture can not change, is difficult for causing the flight accident.

The wing driving mechanism is connected with the rotating shaft and the output end of the driving motor through the connecting rods, the manufacturing precision of the connecting rods is easy to guarantee, the manufacturing difficulty is low, the installation difficulty is low, the matching requirement is also low, and therefore the manufacturing cost of the wing driving mechanism is low.

The wing driving mechanism has low requirement on the use environment, dust is not easy to enter between the rotating rods, so that the wing driving mechanism does not need to be dustproof, a dustproof box cover does not need to be additionally arranged, the weight of the wing driving mechanism is reduced, the wind resistance is small, and the cruising ability of the unmanned aerial vehicle can be improved. The movable end of the rotating rod is in surface contact type low-pair connection, is not easy to wear and is convenient to lubricate, so that the adding period of lubricating oil is greatly prolonged, and the maintenance is easy. In addition, the wing driving mechanism can adapt to different distances between the driving motor and the rotating shaft by changing the length of the rotating shaft, and has a wider application range. And moreover, the rotating rods are in flexible rotating connection, so that the impact resistance and the shock absorption of the wing driving mechanism are better, the service life of the wing driving mechanism is longer, and the service life of the wing driving mechanism is 15000-20000 hours.

According to the flight control method, the wings are rotated to enable the two wings to form an included angle in the length direction of the wings, so that the lifting force between the two wings is different, torsion is generated, the unmanned aerial vehicle in a flat flight state rolls, in the process, the ailerons are kept in a parallel state with the wings, the lower washing air flow speed of the propeller is unchanged, the thrust of the unmanned aerial vehicle is basically unchanged, and therefore a large amount of power does not need to be increased to keep the original flight speed, the endurance of the unmanned aerial vehicle is improved.

According to the invention, the wing is rotated, so that an included angle is formed between the wing and the fuselage in the longitudinal direction, and the downwash airflow generated by the propeller is deflected to one side on the whole, so that an included angle is formed between the thrust of the downwash airflow pushing the wing and the fuselage, and the unmanned aerial vehicle in a hovering state is pushed to turn. Because the ailerons are not used in the steering action, the ailerons are kept in a parallel state with the wings, the lower washing air speed of the propeller is unchanged, and the thrust of the unmanned aerial vehicle is basically unchanged, so that the original flight speed is maintained without increasing much power, and the cruising ability of the unmanned aerial vehicle is improved.

According to the invention, the included angle between the two wings of the unmanned aerial vehicle in the hovering state is changed, so that the forward and backward strength of the downwash airflow of the propeller is different, the forward and backward driving force of the unmanned aerial vehicle is different, and the unmanned aerial vehicle can advance or retreat at a low speed. At this in-process, unmanned aerial vehicle keeps the horizontality, and lift does not change, need not accelerate the rotational speed of screw in order to maintain unmanned aerial vehicle's state of hovering, and unmanned aerial vehicle power does not increase, and the time of endurance can not reduce. In addition, the windward side of the wings in the hovering state is small, so that the forward and backward resistance of the unmanned aerial vehicle is small, the endurance time of the unmanned aerial vehicle is prolonged, and the wings are less affected by wind force in strong wind weather, so that the stability of the unmanned aerial vehicle is easy to maintain.

The invention can be realized without the participation of the tail pulp and the ailerons, so the tail pulp, the ailerons, the aileron control system and the tail pulp control system which are arranged on the unmanned aerial vehicle can be correspondingly removed, thereby the number of parts is reduced, the total weight of the unmanned aerial vehicle is reduced, the cruising ability is further improved, and the fault is not easy to occur.

Through practical tests, the endurance capacity is improved by 28% and the failure rate is reduced by 35%.

Therefore, the invention has the advantages of long service life, good cruising ability, difficult occurrence of flight accidents and simple maintenance.

Drawings

Fig. 1 is a schematic diagram of the plane flight state of the unmanned aerial vehicle.

Fig. 2 is a schematic diagram of the hovering state of the drone of the present invention.

Fig. 3 is a schematic structural view of the rotation mechanism of embodiment 1.

Fig. 4 is a schematic structural diagram of a wing drive mechanism.

Fig. 5 is a schematic view of the wing drive mechanism in a self-locking state.

FIG. 6 is a force analysis diagram of a four bar linkage on a wing drive mechanism.

Fig. 7 is a schematic structural view in a plan view of an airfoil of embodiment 2.

Fig. 8 is a structural view in the bottom view of the wing of embodiment 2.

Fig. 9 is a schematic view of the installation of the wing of embodiment 2.

Fig. 10 is a schematic structural view of the rotating mechanism according to embodiment 2.

Fig. 11 is a schematic top view of the unmanned aerial vehicle rolling to the right in a flat flight state.

Fig. 12 is a schematic top view of the unmanned aerial vehicle rotating to the left in the hovering state.

Fig. 13 is a schematic top view of the unmanned aerial vehicle flying forward at a low speed in a hovering state.

Fig. 14 is a schematic top view of the unmanned aerial vehicle flying backward at a low speed in a hovering state.

Fig. 15 is a schematic diagram of the conventional unmanned aerial vehicle during rolling in a level flight state under the conventional flight control method.

Fig. 16 is a schematic diagram of the existing unmanned aerial vehicle hover state steering under the existing flight control method.

The labels in the figures are: 1-fuselage, 2-rotating shaft, 3-wing, 4-propeller, 5-aileron, 6-horizontal empennage, 7-vertical empennage, 8-elevator, 9-tail-stock;

10-wing driving mechanism, 100-driving motor, 101-first rotating rod, 102-second rotating rod, 103-third rotating rod, 2-rotating shaft, 105-lantern ring, 106-swivel nut, 107-first bearing, 108-second bearing, 109-polygon prism, 110-opening, 111-first connecting part, 112-second connecting part, 113-stepped hole, 114-through groove, 115-through hole, 116-rotating pin, 117-first connecting rod, 118-second connecting rod, 119-third connecting rod, 120-fourth connecting rod and 121-shaft sleeve;

50-rotating mechanism, 500-bracket, 501-rotating motor, 502-first rotating rod, 503-second rotating rod, 504-first hinging seat, 505-spring, 506-rotating shaft, 507-shaft sleeve and 508-second hinging seat.

60-keel, 61-carbon fiber plate, 62-aluminum alloy tube, 63-camera mounting base and 64-screw.

Detailed Description

The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.

Example 1. The utility model provides an unmanned aerial vehicle with wings of verting, as shown in fig. 1 and fig. 2, including fuselage 1, the rear side of fuselage 1 is equipped with tailplane 6, tailplane 6's top is equipped with perpendicular fin 7, tailplane 6's rear side is equipped with the elevator 8 of rotating the connection, be equipped with wing actuating mechanism 10 in the fuselage 1, fuselage 1 goes up the level and violently wears pivot 2 of being connected with wing actuating mechanism 10, pivot 2 rotates with fuselage 1 to be connected, the both sides of fuselage 1 all are equipped with wing 3 (current wing), the tip of pivot 2 passes through rotary mechanism 50 and connects wing 3, the last screw 4 that is equipped with of rotary mechanism 50.

The aircraft body 1 comprises a keel 60, the rear end of the keel 60 is fixed with the horizontal tail wing 6, a rectangular frame is arranged at the front end of the keel 60, and the wing driving mechanism 10 is fixed in the rectangular frame. The rectangular frame comprises an upper carbon fiber plate 61 and a lower carbon fiber plate 61, and the two carbon fiber plates 61 are fixed through an aluminum alloy pipe 62. The keel 60 is provided with a camera mounting base 63 in sliding connection, and the camera mounting base 63 is penetrated by the keel 60 and fixed with the keel 60 through a screw 64. After the unmanned aerial vehicle utilizes camera mount pad 63 to install the camera, the focus adjustment is realized to the accessible in the position of adjusting camera mount pad 63 on fossil fragments 60 for unmanned aerial vehicle's trim adjustment range increases, increases adjustment range 30% -50%.

As shown in fig. 3, the rotating mechanism 50 includes a support 500, the rotating shaft 2 is connected to the propeller 4 through the support 500, the support 500 is rotatably connected to the wing 3, a spring 505 is disposed between the support 500 and the wing 3, a rotating motor 501 is disposed on the support 500, a first rotating rod 502 is disposed at an output end of the rotating motor 501, a second rotating rod 503 is hinged to an end of the first rotating rod 502, and the second rotating rod 503 is rotatably connected to the wing 3 through a first hinge base 504.

A rotating shaft 506 is arranged between the support 500 and the wing 3, a shaft sleeve 507 through which one end of the rotating shaft 506 passes is arranged on the support 500, a second hinged seat 508 through which the other end of the rotating shaft 506 passes is arranged on the wing 3, and a spring 505 sleeved on the rotating shaft 506 is arranged between the shaft sleeve 507 and the second hinged seat 508.

The operating principle of the illustrated rotating mechanism 50 is: the rotary motor 501 drives the wing 3 to rotate around the rotation shaft 506 through the first rotating rod 502, the second rotating rod 503 and the first hinge base 504 in sequence. In embodiment 1, the rotating mechanism 50 has only two hinged seats, and is suitable for the thinner wing 3, and the cost is lower.

As shown in fig. 4-5, the wing driving mechanism 10 includes a driving motor 100 fixed in the fuselage 1, a first rotating rod 101 is disposed at an output end of the driving motor 100, the first rotating rod 101 is connected to a third rotating rod 103 through a second rotating rod 102 with an adjustable length, a sleeve ring 105 for connecting with the rotating shaft 2 is disposed at an end of the third rotating rod 103, and the rotating shaft 2 is rotatably connected with the fuselage 1 through a sleeve 121.

Both ends of the second rotating rod 102 are provided with threads, the thread directions at both ends of the second rotating rod 102 are opposite, both ends of the second rotating rod 102 are respectively screwed with threaded sleeves 106, one threaded sleeve 106 is rotatably connected with the first rotating rod 101, and the other threaded sleeve 106 is rotatably connected with the third rotating rod 103.

One of the screw sleeves 106 is rotatably connected with the first rotating rod 101 through a first bearing 107, and the other screw sleeve 106 is rotatably connected with the third rotating rod 103 through a second bearing 108.

The middle part of the second rotating rod 102 bulges outwards to form a polygon prism 109.

An opening 110 is formed in the lantern ring 105, two sides of the opening 110 extend outwards to form a first connecting portion 111 and a second connecting portion 112 respectively, a stepped hole 113 is formed in the first connecting portion 111, the end portion of the third rotating rod 103 abuts against the bottom surface of the stepped hole 113, and the end portion of the third rotating rod 103 extends towards the second connecting portion 112 and is in threaded connection with the second connecting portion 112. After the third rotating rod 103 is screwed, the first connecting portion 111 is driven to approach the second connecting portion 112, so that the collar 105 is clamped on the rotating shaft 2.

A through groove 114 is formed in the third rotating rod 103, two through holes 115 are formed in positions corresponding to the through grooves 114, a rotating pin 116 is arranged in one through hole 115, the rotating pin 116 is a plug screw, the third rotating rod 103 is rotatably connected with the second rotating rod 102 through the rotating pin 116, and the rotating pin 116 penetrates through the second bearing 108.

The working principle of the wing drive mechanism 10 is as follows: by rotating the second rotating rod 102 through the polygon prism 109, the screw sleeves 106 at the two ends of the second rotating rod 102 are close to or far away from each other due to the opposite spiral directions at the two ends of the second rotating rod 102, thereby changing the length of the second rotating rod 102. The wing driving mechanism is formed with a four-bar linkage mechanism, a first connecting rod 117 is formed between the rotating shaft 2 and the output end of the driving motor 100, a second connecting rod 118 is formed between the output end of the driving motor 100 and the first bearing 107, a third connecting rod 119 is formed between the first bearing 107 and the second bearing 108, and a fourth connecting rod 120 is formed between the second bearing 108 and the rotating shaft 2, the length of the third connecting rod 119 is changed by changing the length of the second rotating rod 102, and the length of the fourth connecting rod 120 is changed by placing the rotating pin 116 on different through holes 115, so that the lengths of two connecting rods in the four-bar linkage mechanism can be adjusted, and the four-bar linkage mechanism is ensured. The first link 117 has a length D, the second link 118 has a length C, the third link 119 has a length B, the first linkThe length of the four-bar link 120 is A, and A is obtained by adjusting the lengths of the third link 119 and the fourth link 120²+(B-C)2＝D²。

When the unmanned aerial vehicle is in a flat flight state, viewed from the side of the unmanned aerial vehicle, the wing driving mechanism state is shown in fig. 5, the four-bar linkage state is shown in fig. 6, the fourth link 120 is perpendicular to the third link 119, and the third link 119 is collinear with the second link 118. At this time, the windward force of the wing is transmitted to the rotating shaft 2, so that the rotating shaft 2 has a rotating trend, the rotating shaft 2 drives the second bearing 108 to have a rotating trend around the rotating shaft 2, and the rotating trend of the second bearing 108 is overcome because the third connecting rod 119 and the second connecting rod 118 are collinear and the position of the driving motor 100 is fixed, so that the rotating shaft 2 cannot rotate, and self-locking is realized.

When the unmanned aerial vehicle is switched to a hovering state, the driving motor 100 drives the second connecting rod 118 to rotate, the second connecting rod 118 sequentially drives the rotating shaft 2 to rotate through the third connecting rod 119 and the fourth connecting rod 120, and the rotating shaft 2 drives the wings to rotate in one direction through the wing driving mechanism, so that switching of flight postures is achieved.

The wing driving mechanism of the invention is structurally different from the wing driving mechanism of the existing unmanned aerial vehicle in that the invention drives the rotating shaft 2 to rotate through a plurality of rotating rods which are sequentially hinged. The existing wing driving mechanism drives the rotating shaft 2 to transfer through a gear pair.

Example 2. Different from embodiment 1, as shown in fig. 10, a rotating shaft 506 is disposed between the bracket 500 and the wing 3, a shaft sleeve 507 is disposed on the bracket 500, which is penetrated through by the middle of the rotating shaft 506, two second hinge seats 508 are disposed on the wing 3, which are penetrated through by two ends of the rotating shaft 506, respectively, and a spring 505 is disposed between one of the second hinge seats 508 and the shaft sleeve 507. In embodiment 2, the rotating mechanism 50 has three hinged seats, so that the structural strength is better, the rotating mechanism is suitable for thicker wings 3, and the cost is higher.

As shown in fig. 7 to 8, the wing 3 is thick at the front and thin at the back, the wing 3 is of a hollow structure, a recessed portion 300 is arranged on the bottom surface of the wing 3, the recessed portion 300 penetrates through the front end and the back end of the wing 3, a groove 301 is arranged on one side of the recessed portion 300, and the groove 301 penetrates through the inner side end of the wing 3.

The front end of the wing 3 is an arc surface 302, and the section of the groove 301 is semicircular.

The bottom of the wing 3 is provided with a first plane 303, the top surface of the wing 3 is provided with a second plane 304, the front end of the first plane 303 is connected with the front end of the second plane 304 through an arc surface 302, the rear side of the second plane 304 is sequentially provided with a first inclined plane 305 inclined downwards and a second inclined plane 306 inclined downwards, the second inclined plane 306 is provided with a bulge 307 corresponding to the recessed portion 300, and the top surface of the bulge 307 is flush with the first inclined plane 305.

The aspect ratio of the wing 3 is 3.5-4.5, and the length-thickness ratio of the wing 3 is 450-500.

As shown in fig. 9, the rotation mechanism 50 is installed on the bottom surface of the recess 300, the groove 301 is fitted with the rotation shaft 2, and the upper portion of the rotation shaft 2 is inserted into the groove 301. The recess 300 serves to shorten the distance between the shaft 2 and the bottom surface of the wing 3 so that the upper portion of the shaft 2 can be hidden into the wing 3.

In embodiment 2, improve wing 3, because wing 3 is hollow structure, when unmanned aerial vehicle fell into the water, wing 3 can provide buoyancy to make unmanned aerial vehicle can take off and descend on the water, make unmanned aerial vehicle's application scope wider from this. The bottom surface of wing 3 has set up recess 301, and the upper portion of pivot 2 is hidden in recess 301 to make, when unmanned aerial vehicle level flies, pivot 2 expose the part less, and expose the part and the comparatively fairing of combination of wing 3, windward resistance is little, thereby improves unmanned aerial vehicle's duration. In addition, wing 3 has further optimized, further reduces the windage, has further improved unmanned aerial vehicle's duration.

In the flight control methods of the unmanned aerial vehicle according to the two embodiments, the rotation directions of the two propellers 4 on the left wing 3 and the right wing 3 are as shown by arrows in fig. 1 and fig. 2, and are consistent with those of the existing unmanned aerial vehicle, so as to control the following actions of the unmanned aerial vehicle.

Lateral rolling: the unmanned aerial vehicle is kept in a flat flying state, in the flat flying state, the wings 3 are kept in a horizontal state and are vertical to the fuselage 1 in the length direction, the left wings 3 are kept in the horizontal state and are unchanged, the inner side ends of the right wings 3 are tilted upwards by deflecting the right wings 3 of the unmanned aerial vehicle, the unmanned aerial vehicle rolls rightwards, the angular acceleration of the unmanned aerial vehicle rolling rightwards is changed by changing the deflection angle of the right wings 3, and the larger the deflection angle is, the faster the unmanned aerial vehicle rolls rightwards; the right wing 3 keeps the horizontal state unchanged, the inner side end of the left wing 3 is tilted upwards by deflecting the left wing 3, the left rolling of the unmanned aerial vehicle is realized, the angular acceleration of the unmanned aerial vehicle rolling leftwards is changed by changing the deflection angle of the left wing 3, and the larger the deflection angle is, the faster the unmanned aerial vehicle rolling leftwards is.

Taking the unmanned aerial vehicle rolling to the right as an example, as shown in fig. 11, the lift forces of the left and right wings 3 are L and L ', respectively, when the unmanned aerial vehicle is kept in a flat flight state, L' is 1/2 ρ CSV2, ρ is the air density, C is the lift coefficient of the wing 3, S is the area of the wing 3, and V is the current flight speed of the unmanned aerial vehicle. When the right wing 3 deflects theta degrees, the lift direction of the right wing 3 is changed theta degrees, so that left and right lift forces of the wing 3 are different in size, the left lift force is larger than the right lift force, a rolling moment is formed, the unmanned aerial vehicle is enabled to roll rightwards, and the rolling angle is accelerated to be alpha which is 1/2J rho/2V²[(1-cosθ)×R+sinθ×r]And J is the rotational inertia of the unmanned aerial vehicle, R is the distance between the vertical component force L of L' and the mass center of the unmanned aerial vehicle in the width direction of the body 1, and R is the distance between the horizontal component force L and the mass center of the unmanned aerial vehicle in the height direction of the body 1. Through practical tests, when the weight of the unmanned aerial vehicle is 1.5 kg, the wingspan (distance between the outer ends of the left wing and the right wing 3) is meter, the flying speed is 60 km/h, and the flying height is 0-100 m, the average angular speed which can be obtained in the first 3 seconds is 480 degrees/second.

Turning: the unmanned aerial vehicle is kept in a hovering state, in the hovering state, the wings 3 are kept in a vertical state, the longitudinal directions of the wings are parallel to the fuselage 1, the front side ends of the two wings 3 are deflected leftwards synchronously, the left turning of the unmanned aerial vehicle is realized, and the angular acceleration of the left turning of the unmanned aerial vehicle is changed by changing the angle of the left deflection of the two wings 3; the front side ends of the two wings 3 synchronously rotate rightwards, so that the unmanned aerial vehicle turns rightwards, and the right-turning angular acceleration of the unmanned aerial vehicle is changed by changing the right-turning angle of the two wings 3. The lower wash airflow generated by the rotation of the propeller 4, the wing 3 and the fuselage 1 are mutually influenced to generate side wash airflow, and side wash airflow is generated, as shown in fig. 12, the side wash airflow on the left wing 3 and the side wash airflow on the right wing 3 are totally deviated to the same side, so that the unmanned aerial vehicle is steered.

Low speed forward flight (flight speed 0-12 km/h): keeping unmanned aerial vehicle at the state of hovering, drawing close two wings 3's front end inboard to keep two wings 3 to distribute about 1 mirror image of fuselage, realize unmanned aerial vehicle's low-speed forward flight, through changing the contained angle between two wings 3, change unmanned aerial vehicle's flight angular acceleration. As shown in fig. 13, the side wash airflows on the left and right wings 3 are distributed symmetrically about the fuselage 1, and the strength of the side wash airflow on the rear side is high, so that a larger reverse thrust acting on the unmanned aerial vehicle is generated, and the unmanned aerial vehicle flies forward at a low speed.

Low speed backward flight (flight speed 0-12 km/h): keeping unmanned aerial vehicle at the state of hovering, drawing close to the inboard in step with the rear end of two wings 3 to keep two wings 3 to distribute about 1 mirror image of fuselage, realize unmanned aerial vehicle's low-speed backward flight, through changing the contained angle between two wings 3, change unmanned aerial vehicle's flight angular acceleration. As shown in fig. 14, the side wash airflows on the left and right wings 3 are generally distributed symmetrically about the fuselage 1, and the strength of the side wash airflow on the front side is higher, so that greater reverse thrust acting on the unmanned aerial vehicle is generated, and the unmanned aerial vehicle flies backwards at a low speed.

The left wing 3 refers to the wing 3 positioned on the left side of the flight direction of the unmanned aerial vehicle; the right wing 3 refers to the wing 3 on the right side of the flight direction of the unmanned aerial vehicle. The hovering state does not indicate that the flying speed of the unmanned aerial vehicle is zero.

And (3) changing the pitching state of the unmanned aerial vehicle in the flat flying state, namely, rotating the elevator 8 by changing, and when the elevator 8 rotates upwards, the unmanned aerial vehicle dives downwards, otherwise, the unmanned aerial vehicle lifts upwards, and the unmanned aerial vehicle is realized by utilizing an elevator control system on the existing unmanned aerial vehicle.

The invention has the advantages of long service life, good cruising ability, difficult occurrence of flight accidents and simple maintenance.

Claims

1. The utility model provides an unmanned aerial vehicle with tilt wings, includes fuselage (1), is equipped with wing actuating mechanism (10) in fuselage (1), and fuselage (1) is improved level and is violently worn pivot (2) of being connected with wing actuating mechanism (10), and the both sides of fuselage (1) all are equipped with wing (3), and wing (3) are connected through rotary mechanism (50) to the tip of pivot (2), are equipped with screw (4) on rotary mechanism (50), its characterized in that: the rotating mechanism (50) comprises a support (500), a rotating shaft (2) is connected with a propeller (4) through the support (500), the support (500) is rotatably connected with a wing (3), a spring (505) is arranged between the support (500) and the wing (3), a rotating motor (501) is arranged on the support (500), a first rotating rod (502) is arranged at the output end of the rotating motor (501), a second rotating rod (503) is hinged to the end portion of the first rotating rod (502), and the second rotating rod (503) is rotatably connected with the wing (3) through a first hinging seat (504).

2. The tilt-wing drone of claim 1, wherein: be equipped with axis of rotation (506) between support (500) and wing (3), be equipped with axle sleeve (507) that is passed by the one end of axis of rotation (506) on support (500), be equipped with articulated seat (508) of the other end of being passed by axis of rotation (506) on wing (3), be equipped with spring (505) of cover on axis of rotation (506) between axle sleeve (507) and the articulated seat (508) of second.

3. The tilt-wing drone of claim 1, wherein: be equipped with axis of rotation (506) between support (500) and wing (3), be equipped with axle sleeve (507) that is passed by the middle part of axis of rotation (506) on support (500), be equipped with two articulated seats (508) that are passed by axis of rotation (506) both ends respectively on wing (3), be equipped with spring (505) between one of them articulated seat (508) and axle sleeve (507).

4. The tilt-wing drone of claim 1, wherein: wing actuating mechanism (10), including fixing driving motor (100) in fuselage (1), driving motor (100) output is equipped with first bull stick (101), and third bull stick (103) is connected through length-adjustable second bull stick (102) in first bull stick (101), and the tip of third bull stick (103) is equipped with and is used for lantern ring (105) be connected with pivot (2).

5. The tilt-wing drone of claim 4, wherein: both ends of the second rotating rod (102) are provided with threads, the thread turning directions at both ends of the second rotating rod (102) are opposite, both ends of the second rotating rod (102) are respectively screwed with threaded sleeves (106), one threaded sleeve (106) is rotatably connected with the first rotating rod (101), and the other threaded sleeve (106) is rotatably connected with the third rotating rod (103).

6. The tilt-wing drone of claim 5, wherein: one of the screw sleeves (106) is rotationally connected with the first rotating rod (101) through a first bearing (107), and the other screw sleeve (106) is rotationally connected with the third rotating rod (103) through a second bearing (108).

7. The tilt-wing drone of claim 4, wherein: the lantern ring (105) is provided with an opening (110), two sides of the opening (110) extend outwards to form a first connecting portion (111) and a second connecting portion (112), the first connecting portion (111) is provided with a step hole (113), the end portion of the third rotating rod (103) abuts against the bottom surface of the step hole (113), and the end portion of the third rotating rod (103) extends towards the second connecting portion (112) and is in threaded connection with the second connecting portion (112).

8. The tilt-wing drone of claim 4, wherein: the third rotating rod (103) is provided with a through groove (114), at least two through holes (115) are arranged at the positions corresponding to the through grooves (114), a rotating pin (116) is arranged in one through hole (115), and the third rotating rod (103) is rotatably connected with the second rotating rod (102) through the rotating pin (116).

9. The tilt-wing drone of claim 4, wherein: the middle part of the second rotating rod (102) bulges outwards to form a polygon prism (109).

10. The tilt-wing drone of claim 1, wherein: the flight control method of the unmanned aerial vehicle controls the following actions of the unmanned aerial vehicle,

lateral rolling: the unmanned aerial vehicle is kept in a flat flying state, the wings (3) are kept in a horizontal state and are vertical to the fuselage (1) in the length direction, and the lateral rolling of the unmanned aerial vehicle is realized by adjusting the vertical upward included angle of the two wings (3);

turning: the unmanned aerial vehicle is kept in a hovering state, in the hovering state, the wings (3) are kept in a vertical state and are parallel to the fuselage (1) in the length direction, and the unmanned aerial vehicle is steered by adjusting the included angle between the wings (3) and the fuselage (1);

low-speed forward flight: the unmanned aerial vehicle is kept in a hovering state, and the front ends of the two wings (3) are drawn close to the inner side, so that the unmanned aerial vehicle flies forwards at a low speed;

low-speed backward flight: the unmanned aerial vehicle is kept in a hovering state, the rear ends of the two wings (3) are drawn close to the inner side, and the unmanned aerial vehicle flies backwards at a low speed.