CN113400873A

CN113400873A - Amphibious unmanned aerial vehicle with tilting rotor

Info

Publication number: CN113400873A
Application number: CN202110876556.7A
Authority: CN
Inventors: 张立; 艾剑良
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2021-07-31
Filing date: 2021-07-31
Publication date: 2021-09-17

Abstract

The invention discloses an amphibious unmanned aerial vehicle with a tiltable rotor wing, which belongs to the field of unmanned aerial vehicles and comprises a body, a pair of wings and a pair of canard wings, wherein the wings and the canard wings are symmetrically arranged on two sides of the body; a tail rudder is fixedly arranged on the lower side of the tail part of the machine body, and a tail rudder propeller for generating forward thrust is arranged on the tail rudder; the tip of wing and the tail end of fuselage all install the screw that can overturn, and the screw that can overturn has the forward propulsion position that produces thrust that advances and the lift propulsion position that produces lift, and the screw that can overturn still has the position of verting between forward propulsion position and lift propulsion position, and the screw that can overturn produces thrust and lift simultaneously at the position of verting. The unmanned aerial vehicle has the underwater navigation capability, the vertical take-off and landing and rapid flat flight capabilities, and various flight modes can be freely and smoothly switched, so that the unmanned aerial vehicle has strong survival capability and rapid flight task capability and has wide application field.

Description

Amphibious unmanned aerial vehicle with tilting rotor

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to an amphibious unmanned aerial vehicle with a tiltable rotor wing.

Background

An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an aircraft that is operated by means of a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. The unmanned aerial vehicle is wide in application field at present and has general application in military use, civil use and other aspects. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In civil aspects, unmanned aerial vehicles are widely applied to aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, movie shooting and the like.

However, in some complex operations, the unmanned aerial vehicle is required to have a vertical take-off and landing function, and the unmanned aerial vehicle is required to have long-endurance characteristics, and during some special tasks, the unmanned aerial vehicle is also required to have amphibious operation capability, while the existing unmanned aerial vehicle cannot realize the above functions due to structural limitation.

Disclosure of Invention

Aiming at the problem that the functions of an unmanned aerial vehicle in the prior art are not enough to complete complex special tasks, the invention aims to provide an amphibious unmanned aerial vehicle with a tiltable rotor wing.

In order to achieve the purpose, the technical scheme of the invention is as follows:

an amphibious unmanned aerial vehicle with a tiltable rotor wing comprises a body, a pair of wings symmetrically arranged on two sides of the body and a pair of wings,

the two sides of the fuselage are symmetrically provided with a pair of duck wings, and the duck wings are positioned in front of the wings;

the tail rudder is fixedly arranged on the lower side of the tail part of the fuselage, and a tail rudder propeller for generating forward thrust is arranged on the tail rudder;

and tilting screw, the tip of wing of the duck and the tail end of fuselage all installs tilting screw, tilting screw has the forward propulsion position that produces forward thrust and the lift propulsion position that produces lift, just tilting screw still has forward propulsion position with lift propulsion position between the position verts, tilting screw is in tilting position produces forward thrust and lift simultaneously.

Preferably, the tiltable propeller comprises a tiltable steering engine, a motor and a paddle; wherein, the steering wheel fixed mounting that verts perhaps the tip of duck wing the tail end of fuselage, just the output shaft of the steering wheel that verts is the level form and arranges, the motor is fixed on the output shaft of the steering wheel that verts, just the output shaft perpendicular to of motor the output shaft of the steering wheel that verts, the paddle fixed mounting be in on the output shaft of motor.

Preferably, the tail rudder comprises a tail rudder body, rudder blades and a steering engine, the rudder blades are rotatably connected onto the tail rudder body through rudder rods, the steering engine is fixedly installed on the tail rudder body, and the output end of the steering engine is in driving connection with the rudder rods.

Furthermore, the aircraft further comprises ailerons, and the ailerons are arranged on the two wings.

Preferably, the tail rudder is installed on a central axis of the fuselage, and the tail rudder is arranged vertically.

By adopting the technical scheme, the invention has the beneficial effects that:

1. due to the arrangement of the tail rudder on the lower side of the tail part of the wing and the tail rudder propeller on the tail rudder, when the unmanned aerial vehicle is on the water surface, the tail rudder is submerged, so that the thrust of the unmanned aerial vehicle advancing on the water surface is provided through the rotation of the tail rudder propeller, the unmanned aerial vehicle has an amphibious function, and the requirements of certain special tasks are met;

2. due to the arrangement of the pair of canard wings arranged on the fuselage and the tiltable propellers arranged on the end parts of the canard wings and the tail part of the fuselage, the thrust generated by the tiltable propellers can be controlled to be forward thrust and/or lift force by changing the positions of the tiltable propellers, so that the unmanned aerial vehicle can be switched between a horizontal flight state and a vertical take-off and landing state to meet the requirements of complex tasks.

Drawings

FIG. 1 is a front view of the amphibious unmanned aerial vehicle during level flight;

FIG. 2 is a side view of the amphibious unmanned aerial vehicle during level flight;

FIG. 3 is a top view of the amphibious unmanned aerial vehicle during level flight;

FIG. 4 is an enlarged view of a portion of FIG. 3 at A;

FIG. 5 is a front view of the amphibious unmanned aerial vehicle in vertical take-off and landing;

FIG. 6 is a side view of the amphibious unmanned aerial vehicle in vertical take-off and landing;

FIG. 7 is a top view of the amphibious unmanned aerial vehicle in vertical take-off and landing;

fig. 8 is a partial enlarged view of fig. 7 at B.

In the figure, 1-fuselage, 2-wing, 3-canard wing, 4-tiltable propeller, 41-tilting steering engine, 42-motor, 43-paddle, 5-tail rudder, 51-tail rudder body, 52-rudder blade, 53-rudder stock, 6-tail rudder propeller and 7-aileron.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on structures shown in the drawings, and are only used for convenience in describing the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.

In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.

An amphibious unmanned aerial vehicle with tiltable rotor wing, as shown in fig. 1-8, comprises a fuselage 1 and a pair of wings 2 symmetrically arranged on both sides of the fuselage 1, and also comprises a pair of canard wings 3 symmetrically arranged on both sides of the fuselage 1, it can be understood that the canard wings 3 are positioned in front of the wings 2, and the canard wings 3 and the wings 2 are positioned in the same plane, or the canard wings 3 are positioned in a plane slightly higher than the plane of the wings 2. In another embodiment, at least one aileron 7 is arranged on each of the two wings 2, and the ailerons 7 are driven by aileron steering engines so as to adjust the flight state of the unmanned aerial vehicle through the ailerons.

The aircraft is characterized by further comprising tiltable propellers 4, the tiltable propellers 4 are mounted at the end parts of the two canards 3 and the tail end of the aircraft body 1, and the three tiltable propellers 4 are in a triangular structure layout. In the present embodiment, the tiltable propeller 4 has a forward propulsion position that generates forward thrust and a lift propulsion position that generates lift. Also, the tiltable propeller 4 has a tilting position between the forward propulsion position and the elevation propulsion position, at which the tiltable propeller 4 simultaneously generates forward thrust and lift.

In this embodiment, as shown in fig. 4, the tilting propeller 4 specifically configured includes a tilting steering engine 41, a motor 42, and a blade 43. Wherein, the steering wheel 41 that verts fixed mounting is in the tip of duck wing 3 or the corresponding position on the tail end of fuselage 1 to the output shaft that makes the steering wheel 41 that verts is the level form and arranges, in this embodiment, the equal perpendicular to axis of fuselage 1 of the output shaft of steering wheel 41 that verts in the three screw propeller 4 that can vert. The motor 42 is fixedly mounted on the output shaft of the tilting steering engine 41, the output shaft of the motor 42 is perpendicular to the output shaft of the tilting steering engine 41, and the paddle 43 is fixedly mounted on the output shaft of the motor 42. In addition, in the present embodiment, the tiltable propeller 4 has a plurality of tilting positions (gears) or stepless displacement (positioning at any angle), so as to adjust the proportional relationship between the forward thrust generated by the blades 43 and the lift force according to different usage scenarios, for example, the tiltable propeller 41 may be configured to have an angle fixing and locking function, so that the output shaft thereof is fixed.

With such an arrangement, when the tilting steering engine 41 rotates and the tilting propeller 4 is in a forward propulsion position, the output shaft of the motor 42 is horizontal and parallel to the central axis of the airframe 1, so that the blades 43 generate thrust for driving the unmanned aerial vehicle to advance horizontally after rotating, as shown in fig. 1-3; when the tilting steering engine 41 rotates and the tilting propeller 4 is in the lifting propulsion position, the output shaft of the motor 42 is vertical and perpendicular to the central axis of the airframe 1, so that the blades 43 generate a lift force for driving the unmanned aerial vehicle to vertically lift after rotating, as shown in fig. 5-7; and it is easy to understand that when the tilt steering engine 41 rotates and the tilt propeller 4 is in the tilt position, the thrust generated by the rotation of the blades 43 has two components, one component is the lift force and the other component is the forward thrust.

The aircraft further comprises a tail rudder 5, wherein the tail rudder 5 is fixedly arranged on the lower side of the tail part of the aircraft body 1, and a tail rudder propeller 6 for generating forward thrust, such as a propeller, is arranged on the tail rudder 5. In this embodiment, the tail rudder 5 is integrally a plate or similar structure, and is fixedly installed along the central axis of the fuselage 1, and the tail rudder 5 is vertically arranged. Furthermore, as shown in fig. 8, the tail rudder 5 includes a tail rudder body 51, a rudder blade 52 and a steering engine (not shown in the figure), wherein the rudder blade 52 is rotatably connected to the rear side of the tail rudder body 51 through a rudder stock 53, the steering engine is fixedly mounted on the tail rudder body 51, and the output end of the steering engine is in driving connection with the rudder stock through a coupling or the like, so as to drive the rudder blade 52 to rotate, thereby changing the direction of the unmanned aerial vehicle when the unmanned aerial vehicle sails in water through the deflection of the rudder blade 52. When the unmanned aerial vehicle navigates on the water surface, as shown in fig. 1, the tiltable propeller 4 can also provide thrust for advancing on the water surface, or as shown in fig. 5, the tiltable propeller 4 may not participate in navigation, and only the tail vane propeller 6 provides thrust for advancing.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.

Claims

1. An amphibious unmanned aerial vehicle with tiltable rotor wing, includes fuselage and symmetrically arranges a pair of wing of fuselage both sides, its characterized in that: also comprises the following steps of (1) preparing,

2. An amphibious drone with tiltable rotor according to claim 1, characterised in that: the inclinable propeller comprises an inclinable steering engine, a motor and a paddle; wherein, the steering wheel fixed mounting that verts perhaps the tip of duck wing the tail end of fuselage, just the output shaft of the steering wheel that verts is the level form and arranges, the motor is fixed on the output shaft of the steering wheel that verts, just the output shaft perpendicular to of motor the output shaft of the steering wheel that verts, the paddle fixed mounting be in on the output shaft of motor.

3. An amphibious drone with tiltable rotor according to claim 1, characterised in that: the tail rudder comprises a tail rudder body, rudder blades and a steering engine, the rudder blades are rotatably connected onto the tail rudder body through rudder rods, the steering engine is fixedly installed on the tail rudder body, and the output end of the steering engine is in driving connection with the rudder rods.

4. An amphibious drone with tiltable rotor according to claim 1, characterised in that: the wing structure further comprises ailerons, and the ailerons are arranged on the two wings.

5. An amphibious drone with tiltable rotor according to claim 1, characterised in that: the tail rudder is installed on a central axis of the machine body and is arranged vertically.