CN114044122A

CN114044122A - Variable-wing vertical take-off and landing self-grabbing aircraft

Info

Publication number: CN114044122A
Application number: CN202111331305.7A
Authority: CN
Inventors: 汪鸣飞; 汪禹
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-11-01
Filing date: 2021-11-01
Publication date: 2022-02-15

Abstract

The invention provides a variable-wing vertical take-off and landing self-grabbing aircraft, and relates to the technical field of aircraft. The invention aims to solve the problems of aircraft voyage, vertical take-off and landing, autonomous cargo grabbing and folding. The aircraft comprises an aircraft body, an aircraft wing root section, an aircraft wing tip section, a rotor wing assembly, a swing paddle hinge, an azimuth hinge, an aircraft wing root hinge, an aircraft wing middle hinge and a grabbing loader; the machine body consists of a middle half cylinder body and streamline half bodies with the same two ends, and the planar cylinder wall faces downwards; the wing root sections are symmetrically arranged on the left side and the right side of the fuselage through left and right wing root hinges; the tip section of the wing is provided with a landing foot, and the root part of the landing foot is arranged at the tail end of the wing root section through the wing middle hinge. The rotor wing assembly has 4 groups of a left front group, a left rear group, a right front group and a right rear group, and each group can tilt around the swing paddle hinge and the azimuth hinge at a swing angle, so that cruising flight, hovering in the air, vertical lifting and folding are realized. The grabbing and carrying device is arranged under the belly of the body. The aircraft is suitable for cargo handling purposes.

Description

Variable-wing vertical take-off and landing self-grabbing aircraft

Technical Field

The invention relates to the technical field of aircrafts, in particular to a variable-wing vertical take-off and landing self-grabbing aircraft.

Background

The traditional fixed wing aircraft has the advantages of high speed and long voyage, but has the defect of runway field for taking off and landing. The traditional multi-rotor aircraft has the advantages of vertical take-off and landing and flexible flight, but has the defects of low speed and short voyage. The existing fixed-wing vertical take-off and landing aircraft combines the characteristics of vertical take-off and landing of a multi-rotor aircraft and ultra-long range and large load capacity of the fixed-wing aircraft, and is widely applied to the fields of transportation, surveying and mapping, agriculture, disaster relief and the like. In the related technology, the fixed-wing vertical take-off and landing aircraft has a large wingspan, high requirements on a take-off and landing site, and poor wind resistance, or the lift surface of the wing is small in the flight process, the flight efficiency is low, and site limitation, wind resistance and lift performance in the flat flight process cannot be considered at the same time; in addition, the problems of work efficiency limitation of manual loading and unloading, large volume of the aircraft, inconvenience in transportation and storage and the like exist.

To solve these problems, the invention patent application CN202011640320.5 discloses a vertical take-off and landing fixed wing aircraft, which includes a fuselage, wings, propellers and a rudder, wherein the wings include fixed wings and folding wings. This VTOL fixed wing aircraft, be provided with the folding wing that can fold and expand relative fixed wing, can be at the aircraft vertical lift, the in-process of hovering, make the folding wing be fold condition, when the aircraft is gone round to fly to patrol, make the folding wing be the state of expanding, and then, the aircraft can compromise the wind-resistant performance when VTOL and hovering simultaneously, and go round to fly to patrol the lift performance when navigating, and can improve the load that cruises and the time of cruising, the flight efficiency of aircraft has effectively been guaranteed.

The utility model patent application CN202022157644.5 discloses a tilting vertical take-off and landing fixed wing aircraft, which comprises a fuselage, a left wing and a right wing connected with the fuselage; the front edge of the left wing is provided with a left front propeller, the rear edge of the left wing is provided with a left rear propeller, the front edge of the right wing is provided with a right front propeller, the rear edge of the right wing is provided with a right rear propeller, and all the propellers work in the cruise stage of the fixed wing, so that the resistance in the cruise stage of the vertical take-off and landing fixed wing is reduced.

Although significant advances have been made in these patent applications, some problems have not yet been solved.

Disclosure of Invention

The invention organically combines a fixed wing aircraft and a multi-rotor aircraft in another mode, and aims to further solve the problems of limited wingspan of a take-off and landing site, manual work of loading and unloading goods, transportation and storage of the aircraft and the like in the prior art. Therefore, the invention provides a new technical scheme, which can solve the problems and is compatible with smaller resistance, good lifting force and wind resistance.

The invention provides a variable-wing vertical take-off and landing self-grabbing aircraft which comprises an aircraft body, a wing root section, a wing tip section, a rotor wing assembly, a swing paddle hinge, an azimuth hinge, a wing root hinge, a wing middle hinge and a grabbing device.

The machine body is composed of a middle section half cylinder body and streamline half bodies with the same two ends, and the plane cylinder wall faces downwards. The fuselage does not have a rudder or an aileron and is not divided into a head and a tail. The structure greatly reduces the flight resistance and is suitable for bidirectional flight.

The wing root sections are symmetrically arranged on the left side and the right side of the fuselage through left and right wing root hinges. The tip section of the wing is provided with a landing foot, and the root part of the landing foot is arranged at the tail end of the wing root section through the wing middle hinge. The wing root section and the wing tip section on the same side form a complete wing on one side.

In order to prevent turbulent vibration caused by the speed difference of the upper airflow and the lower airflow at the tail end of the wing, the tail end of the tip section of the wing is provided with an upturned transition piece or a wing tip transition piece so as to eliminate wing end turbulence.

The rotor wing assembly comprises a propeller, a power motor and a swing arm, the length of the swing arm exceeds the rotation radius of the propeller, the rotating shafts of the propeller and the power motor are vertical to the longitudinal axis of the swing arm, the power motor is fixedly connected with the end part of the swing arm, and the root part of the swing arm is arranged on the azimuth hinge through the swing paddle hinge; the rotor subassembly is total 4 groups in front left, back left, front right and back right, and every group all can wind the pendulum oar hinge is done and is swashed the angle and vert from top to bottom, and winds the azimuth hinge is done the azimuth angle gyration.

The azimuth hinges are arranged in the front edge and the rear edge of the wing root section, and rotating shafts of the front azimuth hinge and the rear azimuth hinge on the same side are on the same axis; alternatively, the same drive execution means may be shared or the drive execution means may be separately configured.

The grabbing and carrying device is arranged under the abdomen of the machine body and consists of a left grabbing arm and a right grabbing arm.

Through the direction that verts of rotor subassembly and the gyration of wing tip section and wing root section realizes continuation of the journey flight, hovers in the air, VTOL and folding function:

(1) when the wing slightly expands outwards, the wing is equivalent to a fixed wing aircraft, when a pair of rotor assemblies positioned at the left front part and the right front part in the flight direction tilt and droop and a pair of rotor assemblies positioned at the left rear part and the right rear part tilt and droop, forward power is generated for continuous flight, the flight direction is adjusted by regulating and controlling the power difference of the left rotor assembly and the right rotor assembly, the wing elevation angle is adjusted by regulating and controlling the power difference of the vertical rotor assembly and the vertical rotor assembly, so that the flight height is adjusted, a rudder and an aileron are omitted, and the flight resistance is reduced; the rotary inclination angles of the front and the rear pairs of rotor assemblies are adjusted to other angles between the upper and the lower parts, so that slow flight, hovering in the air or reverse flight can be realized.

(2) When the swing rods of all the rotor assemblies tilt to the horizontal position, namely the front left rotor assembly and the front right rotor assembly tilt forwards to the horizontal position, the rear left rotor assembly and the rear right rotor assembly tilt backwards to the horizontal position, the tip sections of the wings tilt to the drooping position or the positions close to the wing root sections to play the role of an undercarriage, and at this time, 4 groups of rotor assemblies generate upward traction force, which is equal to that of a four-rotor aircraft, and are in a vertical take-off and landing state; after landing feet of the tip sections of the wings are landed, the grabbing and carrying device can grab or put down an object;

(3) after falling to the ground, the wing root section can wind wing root hinge continues to upwarp, the wing tip section winds hinge turns to or keeps drawing close in the wing the wing root section, the position hinge rotates 90 for the VTOL state and deuterogamies with the pendulum oar hinge verts, makes the swing arm of rotor subassembly turns to the wing root section is until drawing close the front and back border of wing root section makes it be in fold condition, is convenient for transport and deposit, at this moment grab year ware becomes the supporting legs.

Optionally, the landing foot of the tip of the wing has two structural forms of a short foot arranged at the end or a long foot arranged close to the root, and the root of the long foot is hinged with two positioning steps and can be folded by rotating 90 degrees.

The swing paddle hinge, the azimuth hinge, the wing root hinge and the wing middle hinge are all power hinges; alternatively, the dynamic hinge comprises two structural forms: the integrated hinge with the driving device or the combination of the driving push (pull) rod and the hinge has the mechanical self-locking function. And each hinge executes action according to the control instruction.

Alternatively, the same-side azimuth hinge and the wing root hinge may share one driving actuator, or driving actuators may be provided separately.

Drawings

The invention will be further described with reference to the following figures and examples, in which:

FIG. 1 is a schematic structural diagram of a variable-wing VTOL self-grabbing aircraft in a cruising flight state;

FIG. 2 is a schematic structural diagram of a variable-wing vertical take-off and landing self-holding aircraft in a vertical take-off and landing state;

FIG. 3 is a schematic structural diagram of a folded state of a variable-wing VTOL self-gripping aircraft;

FIG. 4 is a schematic view of a tip section of an airfoil with a upturned transition piece and a short foot (landing foot);

FIG. 5 is a schematic view of a tip section of an airfoil with a upturned transition piece and a long foot (landing foot).

Reference numerals: the aircraft comprises an airframe 1, a wing root section 2, a wing tip section 3, a rotor wing assembly 4, a swing paddle hinge 5, an azimuth hinge 6, a wing root hinge 7, a wing middle hinge 8, a grabbing loader 9, a wing tip section main body 30, an upturned transition piece 31, a short foot 32 and a long foot 33.

The dashed cube under the belly of the fuselage 1 represents the gripped object.

Detailed Description

Embodiments of the present invention are described below. This example is intended to be illustrative of the invention and should not be construed as limiting the invention.

In the description of the present invention, directional descriptions such as directions or positional relationships indicated as left, right, front, rear, up, down, etc. are based on the directions or positional relationships shown in the drawings only for convenience and simplicity of describing the present invention, and do not indicate or imply that the device or component must have a specific direction, be constructed and operated in a specific direction, and not limit the present invention.

In addition, unless otherwise expressly limited, terms such as set forth, configured, mounted, connected and the like are to be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present disclosure in consideration of the detailed contents of the technical solutions.

Referring to fig. 1, the variable wing vertical take-off and landing self-grabbing aircraft mainly comprises a fuselage 1, a wing root section 2, a wing tip section 3, a rotor wing assembly 4, a swing paddle hinge 5, an azimuth hinge 6, a wing root hinge 7, a wing middle hinge 8, a grabbing loader 9 and the like.

Preferably, the machine body 1 is composed of a middle half cylinder body and streamline half bodies with the same two ends, and the planar cylinder walls face downwards and are the same in head and tail. The streamline semi-cylindrical composite structure is made of light materials.

Preferably, referring to fig. 1, 4 or 5, the wing root section 2 is symmetrically installed on the left and right sides of the fuselage 1 through left and right wing root hinges 7; the wing tip section 3 has a landing foot (with a short foot 32 at the end or a long foot 33 near the root) and the root is attached to the end of the wing root section 2 by the wing center hinge 8. The end of the wing tip section 3 is provided with a turned up transition piece 31 to eliminate tip turbulence. The wing root section 2 and the wing tip section 3 on the same side form a wing with one complete side, the upper part of the wing is an arc-shaped surface, and the lower part of the wing is a plane or a micro-arc surface so as to generate lift force. The wings are made of light materials.

Preferably, the rotor assembly 4 comprises a propeller, a power motor and a swing arm, the length of the swing arm exceeds the rotation radius of the propeller, the rotating shaft of the power motor is perpendicular to the longitudinal axis of the swing arm and is fixedly connected with the end part of the swing arm, and the root part of the swing arm is arranged on the azimuth hinge 6 through the swing paddle hinge 5; rotor subassembly 4 is 4 groups in total left front, left back, right front and right back, and every group all can wind pendulum oar hinge 5 and position hinge 6 do respectively that the pivot angle verts and the position gyration. The maximum traction force generated by the 4 groups of rotor assemblies 4 is at least more than or equal to 1.2 times of the total takeoff weight, and the rotor assemblies have certain wind resistance. Rotor assemblies 4 may be arbitrarily divided in left-right, front-back, or up-down pairs, with the propellers of each pair of rotor assemblies 4 rotating in opposite directions to counteract torque.

Preferably, the azimuth hinges 6 are installed at the positions close to the ends of the front and rear edges of the wing root section 2, the rotating shafts of the front and rear azimuth hinges 6 on the same side are on the same axis, and share the same driving and executing device, so as to simplify the structure and reduce the cost.

Preferably, the gripping and loading device 9 is installed under the abdomen of the body 1 and is composed of two sets of left and right gripping arms. The friction roller type grabbing device is adopted, so that the pocket bottom is grabbed, and the pocket can be borne for a long time without falling.

Preferably, the swing paddle hinge 5 is an integrated hinge with a driving device, the azimuth hinge 6, the wing root hinge 7 and the wing middle hinge 8 are a combination of a driving push (pull) rod and a hinge, and all have a mechanical self-locking function. And each hinge executes action according to the control instruction.

Preferably, the ipsilateral azimuth hinge 6 and the wing root hinge 7 share a drive actuator through a shaft and gear mechanism.

Preferably, as shown in fig. 1, the wing tip section 3 corresponds to a fixed wing aircraft when being deployed to the outside, when a pair of rotor assemblies 4 located at the front left and right in the flight direction tilt and droop, and a pair of rotor assemblies 4 located at the rear left and right tilt and droop, a horizontal forward power is generated for continuous flight, the flight direction is adjusted by adjusting the power difference of the rotor assemblies 4 at the left and right sides, the wing elevation angle is adjusted by adjusting the power difference of the rotor assemblies 4 at the upper and lower sides so as to adjust the flight height, a rudder and an aileron are omitted, and the flight resistance is reduced.

Preferably, the rotating inclination angles of the pair of rotor assemblies 4 at the front edges of the wings are gradually adjusted from drooping to front, and the rotating inclination angles of the pair of rotor assemblies 4 at the rear edges of the wings are gradually adjusted from drooping to back to bottom, so that the horizontal traction force is gradually reduced, the upward traction force is increased until the swing rods of the rotor assemblies 4 are in a horizontal state, and then the power adjustment is matched, so that the slow flight and the hovering in the air can be realized.

Preferably, the rotation inclination angles of the pair of rotor assemblies 4 at the front edge of the original wing are gradually adjusted to be upward vertical from the horizontal position, meanwhile, the rotation inclination angles of the pair of rotor assemblies 4 at the rear edge of the original wing are gradually adjusted to be downward vertical from the horizontal position, upward traction force is gradually reduced, horizontal traction force is increased until the swing rod of the rotor assemblies 4 is in an upward and downward state, and then power adjustment is matched, so that reverse flight can be realized.

Preferably, as shown in fig. 2, 4 or 5, when the swing rods of all the rotor assemblies 4 are tilted to the horizontal position, that is, the front left and right rotor assemblies 4 are tilted forward to the horizontal position, the rear left and right rotor assemblies 4 are tilted backward to the horizontal position, and then the wing tip section 3 is tilted to the drooping position (the short foot 32 adopted at this time is downward grounded, see fig. 4) or the position close to the wing root section 2 (the long foot 33 adopted at this time is downward grounded, see fig. 5) to function as the landing gear, which is equivalent to a four-rotor drone, in the vertical lifting state; after landing the landing foot of the wing tip 3, the grab 9 can grab or put down the object.

Preferably, as shown in fig. 3, after landing feet of the wing tip section 3 land, the wing root section 2 continuously tilts up around the wing root hinge 7, the wing tip section 3 turns around the wing middle hinge 8 or keeps close to the wing root section 2, the azimuth hinge 6 rotates 90 degrees relative to the vertical take-off and landing state and then is matched with the swing paddle hinge 5 to tilt, so that the swing arm of the rotor assembly 4 turns to the wing root section 2 until the swing arm is close to the front edge and the rear edge of the wing root section 2, a folded state is realized, and at this time, the load grabber 9 becomes a supporting foot.

As shown in fig. 5, the root of the long foot 33 has a hinge at the joint with the wing tip 3, and the hinge can be self-powered or manual; the hinge has two positioning steps, when the hinge needs to be folded, the long foot 33 can be tilted by 90 degrees to be close to the wing tip main body 30.

The present invention is not limited to the above-described embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention, and features in the embodiments may be combined with each other.

Claims

1. The utility model provides a variable wing VTOL is from grabbing year aircraft which characterized in that:

the aircraft comprises an aircraft body, an aircraft wing root section, an aircraft wing tip section, a rotor wing assembly, a swing paddle hinge, an azimuth hinge, an aircraft wing root hinge, an aircraft wing middle hinge and a grabbing loader;

the machine body consists of a middle section half cylinder body and streamline half bodies with the same two ends, and the plane cylinder wall faces downwards, so that the machine body is not provided with a rudder or an aileron and is not divided into a head part and a tail part;

the wing root sections are symmetrically arranged on the left side and the right side of the fuselage through left and right wing root hinges; the tip section of the wing is provided with a landing leg, and the root part of the landing leg is installed at the tail end of the wing root section through the wing middle hinge;

the rotor wing assembly comprises a propeller, a power motor and a swing arm, the length of the swing arm exceeds the rotation radius of the propeller, the rotating shafts of the propeller and the power motor are vertical to the longitudinal axis of the swing arm, the power motor is fixedly connected with the end part of the swing arm, and the root part of the swing arm is arranged on the azimuth hinge through the swing paddle hinge; the rotor wing assembly comprises 4 groups of a left front group, a left rear group, a right front group and a right rear group, wherein each group can tilt up and down around the swing paddle hinge and rotate around the azimuth hinge by an azimuth angle;

the azimuth hinges are arranged in the front edge and the rear edge of the wing root section, and the rotating shafts of the front azimuth hinge and the rear azimuth hinge on the same side are on the same axis and can share the same driving execution device or be respectively provided with the driving execution devices;

the grabbing and carrying device is arranged under the belly of the machine body;

(1) when the wing slightly expands outwards, the wing is equivalent to a fixed wing aircraft, when a pair of rotor assemblies positioned at the left front part and the right front part in the flight direction tilt and droop and a pair of rotor assemblies positioned at the left rear part and the right rear part tilt and droop, forward power is generated for continuous flight, the flight direction is adjusted by regulating and controlling the power difference of the left rotor assembly and the right rotor assembly, the wing elevation angle is adjusted by regulating and controlling the power difference of the vertical rotor assembly and the vertical rotor assembly, so that the flight height is adjusted, a rudder and an aileron are omitted, and the flight resistance is reduced; the rotary inclination angles of the front and the rear pairs of rotor assemblies are adjusted to other angles between the upper and the lower parts, so that slow flight, hovering in the air or even reverse flight can be realized;

2. The variable wing VTOL self-grabbing loader of claim 1, wherein the landing feet of the tip of the wing have both short feet mounted at the end and long feet mounted near the root.

3. The variable-wing VTOL self-grabbing aerial vehicle of claim 1 or 2, wherein the swing paddle hinge, the azimuth hinge, the wing root hinge and the wing middle hinge are all power hinges, and the power hinges comprise two structural forms: the integrated hinge with the driving device or the combination of the driving push (pull) rod and the hinge has the mechanical self-locking function.

4. The variable-wing VTOL self-grabbing loader of any one of claims 1 to 3, wherein the wing root hinge and the azimuth hinge on the same side can share one driving actuator or are respectively provided with driving actuators.