CN214729655U

CN214729655U - Vertical take-off and landing fixed wing unmanned aerial vehicle

Info

Publication number: CN214729655U
Application number: CN202120725631.5U
Authority: CN
Inventors: 冯满; 莫丽; 陈行; 郭振兴; 刘栖; 许先雨; 王玖
Original assignee: Southwest Petroleum University
Current assignee: Southwest Petroleum University
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2021-11-16
Anticipated expiration: 2031-04-09

Abstract

The patent of the utility model relates to a VTOL unmanned aerial vehicle. The traditional fixed wing unmanned aerial vehicle has the advantages of long voyage, high load, good stability and the like, but the taking-off and landing requirements on the environment are high, and a special runway is required; many rotor unmanned aerial vehicle has advantages such as the take-off and landing convenience, the controllability is good, but its journey is shorter relatively, and the load is limited. This VTOL fixed wing unmanned aerial vehicle has had transmission fixed wing unmanned aerial vehicle and many rotor unmanned aerial vehicle's advantage concurrently, can convert to the fixed wing flight mode after rising perpendicularly, greatly promotes the voyage, patrols and examines for the long distance of power transmission line and petroleum pipeline and provides probably. The vertical take-off and landing fixed wing unmanned aerial vehicle mainly comprises a body, wings, propellers, a motor, a steering engine, a carbon rod and the like. Compared with other types of vertical take-off and landing fixed-wing unmanned aerial vehicles, the three-rotor-wing unmanned aerial vehicle has the advantages that the empennage is removed, the rotor wings are used for keeping balance and assisting steering, dead weight of fixed-wing during cruise is greatly reduced, and the voyage is further increased.

Description

Vertical take-off and landing fixed wing unmanned aerial vehicle

Technical Field

The utility model relates to a VTOL fixed wing unmanned aerial vehicle is the unmanned aerial vehicle field.

Background

Unmanned aerial vehicle is the unmanned aircraft that utilizes radio remote control equipment and self-contained program control device to control, and along with the high-speed development of electronic information technique, unmanned aerial vehicle has more and more application scenarios in fields such as aerial photography, agriculture and forestry, pipeline inspection, survey and drawing, fire rescue. According to unmanned aerial vehicle power structure classification, mainly divide into fixed wing unmanned aerial vehicle, many rotor unmanned aerial vehicle and VTOL fixed wing unmanned aerial vehicle.

Traditional fixed wing unmanned aerial vehicle has that flight speed is fast, and economic nature is high, and carrying capacity is strong, characteristics such as journey is big, but fixed wing unmanned aerial vehicle power structure has decided that it must have certain speed just can take off, takes off and land needs specific runway promptly, and fixed wing unmanned aerial vehicle can't realize hovering, action such as low-speed maneuver aloft. Many rotors rely on the lift that a plurality of rotors produced to come the load of balanced aircraft, can realize action such as hover in the air, low-speed removal, and do not have too much requirement to the place of taking off and landing, but its dynamic characteristic has decided that many rotor unmanned aerial vehicle can't be applied to long-range journey, and load capacity is relatively weaker, and flight speed is lower.

Based on this, can realize the fixed wing unmanned aerial vehicle of VTOL and take place by oneself, at present most VTOL fixed wing unmanned aerial vehicles adopt the overall arrangement of composite wing, tilting and tailstock formula, and wherein composite wing and tilting layout have great dead weight under the fixed wing mode, and then influence continuation of the journey.

Disclosure of Invention

Therefore, the utility model discloses VTOL fixed wing unmanned aerial vehicle has carried out the innovation to the unmanned aerial vehicle overall arrangement before, adopts the overall arrangement that verts of tailplane, can realize VTOL can realize the basis of the big voyage of high-speed again, and further control dead weight promotes continuation of the journey.

The utility model discloses VTOL fixed wing unmanned aerial vehicle mainly comprises two brushless DC motor, coaxial reversal motor, two pairs of positive and negative oars, wingtip, wing, square carbon pole, circular carbon pole, fuselage, biax steering wheel, unipolar steering wheel, rudder frame, motor frame, square shaft. The left brushless direct current motor stator and the right brushless direct current motor stator are fixedly connected with two ends of the square carbon rod through bolts, and a rotor central shaft is fastened with a positive paddle and a negative paddle through check bolts respectively. The middle part of the square carbon rod is fixedly connected with the machine body. The middle part of the wing is fixedly connected with the body, and the left end and the right end are fixedly connected with the wing tip. Two round carbon rods penetrate through the whole wing through the fuselage and are fixed with the wing. The single-shaft steering engine is fixedly connected with the engine body, and the steering engine shaft is fixedly connected with the rear end of the square shaft through screws. The middle part of the square shaft is connected with the machine body in a revolute pair mode through a bearing, the square shaft can freely rotate relative to the machine body, and the front end of the square shaft is fixedly connected with the steering engine seat. The double-shaft steering engine is fixedly arranged on the steering engine base, and the steering engine shaft is fixedly connected with the motor frame through screws. The stator of the coaxial reverse motor is fixedly connected with the motor frame through bolts, and a central shaft of the rotor is respectively provided with a positive propeller and a negative propeller which are fastened by check bolts.

Two brushless DC motors drive a positive paddle and a negative paddle respectively, so as to offset the counter torque force to the machine body caused by the action of the paddles, a pair of positive and negative paddles are respectively arranged on the upper part and the lower part of a coaxial counter-rotating motor, and the counter torque forces generated by the counter-rotating motors are also offset with each other. Under the vertical take-off and landing mode, the rotation angle of the double-shaft steering engine is 0 degree, the coaxial reversing motor shaft is perpendicular to the ground plane, the unmanned aerial vehicle works in a three-rotor mode, the yaw of the unmanned aerial vehicle is realized by rotating the steering engine shaft of the single-shaft steering engine by a certain angle, the rolling is realized by two brushless direct current motors, and the pitching is realized by the combined action of the coaxial reversing motor and the brushless direct current motors. After the vertical lifting, the steering wheel shaft of the double-shaft steering engine rotates by a certain angle to enable the motor frame to tilt forwards, the axial line of the coaxial reversing motor and the horizontal plane included angle are smaller than 90 degrees, forward pulling force is provided for the unmanned aerial vehicle, the unmanned aerial vehicle accelerates forwards, after accelerating to a certain speed, the unmanned aerial vehicle enters a fixed wing mode, the wings generate lifting force to carry out load flight, the working power of two brushless direct current motors at the back gradually drops, when airflow disturbance exists, the brushless direct current motors enter a working state, and the tail wing of the traditional fixed wing unmanned aerial vehicle is equivalent to a balanced flight state of the unmanned aerial vehicle. Turn to under the fixed wing mode, rotate certain angle by the steering wheel axle of unipolar steering wheel and realize unmanned aerial vehicle driftage, two brushless DC motor's different rotational speed work realizes that unmanned aerial vehicle rolls, and the compound steering maneuver that can realize under the fixed wing mode of unmanned aerial vehicle of these two kinds of gestures. Balance maintenance and steering maneuvers are achieved without the need for tail and ailerons in the fixed wing mode.

The double-shaft steering engine can rotate by 0-180 degrees, controls the tilting angle of the coaxial reverse motor, does not tilt by 0 degree, and tilts by 90 degrees to be parallel to the ground plane.

The single-shaft steering engine can rotate at an angle of-60 degrees to +60 degrees, the coaxial reversing motor is controlled to yaw the unmanned aerial vehicle, the yaw angle is negative left yaw, and the yaw angle is positive right yaw.

Wherein, in three rotor modes, the rotation axis of three motors is equidistantly distributed.

Drawings

Fig. 1 is the general schematic diagram of the vertical take-off and landing fixed wing drone of the utility model.

Fig. 2 is the utility model discloses VTOL fixed wing unmanned aerial vehicle's left side view.

Fig. 3 is the utility model discloses VTOL fixed wing unmanned aerial vehicle's top view.

Fig. 4 is the utility model discloses VTOL fixed wing unmanned aerial vehicle's inner structure schematic diagram.

In the figure: 1. a wing tip; 2. an airfoil; 3. straightening a propeller; 4. a square carbon rod; 5. a body; 6. a double-shaft steering engine; 7. a coaxial counter-rotating motor; 8. a brushless DC motor; 9. a round carbon rod; 10. a rudder engine base; 11. a motor frame; 12. reverse paddle; 13. a single-shaft steering engine; 14. and (4) a square shaft.

Detailed Description

The wingtip 1 has the functions of reducing the vortex at the end part of the wing in a fixed wing mode, improving the lifting force of the wing and supporting the unmanned aerial vehicle during parking; when the vertical take-off and landing are carried out, the two brushless direct current motors 8 rotate reversely, and together with the coaxial reverse rotation motor 7, the two brushless direct current motors respectively drive the pair of propellers 3 and the counter propellers 12 to rotate reversely, so that counter torque force generated by the propellers doing work can be counteracted; after the machine body is vertically lifted, the double-shaft steering engine 6 rotates by a certain angle, so that the coaxial reverse motor 7 fixed on the motor frame 11 tilts forwards, and meanwhile, the rotating speed of the coaxial reverse motor 7 is increased, so that the lifting force of the machine body vertical to the horizontal plane is stable; coaxial reversal motor 7 after verting will provide a forward pulling force, and unmanned aerial vehicle accelerates forward motion gradually, and the lift that wing 2 produced also increases gradually, and brushless DC motor's rotational speed reduces gradually, and unmanned aerial vehicle switches to fixed wing flight mode.

In the fixed-wing flight mode, the two brushless direct current motors 8 at the rear part do not become dead weight of the unmanned aerial vehicle, and when the unmanned aerial vehicle is disturbed by airflow, the balance of the unmanned aerial vehicle can be realized by adjusting the rotating speed difference of the two motors; the rudder engine base 10 is connected with the single-shaft steering engine 13 through a square shaft 14, and the single-shaft steering engine 13 can realize the left-right deflection of the coaxial reverse rotation motor 7, so that the unmanned aerial vehicle can yaw; under the fixed wing mode, unmanned aerial vehicle left turn to can be realized by two motor-driven complex: (1) the single-shaft steering engine 13 turns left, the coaxial reversing motor 7 deflects left, and the unmanned aerial vehicle deflects left; (2) 8 rotational speeds of brushless DC motor on the right promote, and unmanned aerial vehicle rolls on the left. The unmanned aerial vehicle turns right the implementation way and turns left similarly. Under the fixed wing mode, when 6 corners of biax steering wheel trund into 0 degree, but unmanned aerial vehicle switching back three rotor modes, unmanned aerial vehicle gets into the state of hovering under the every single move, reduces brushless DC motor 8 and the rotational speed of coaxial counter-rotating motor 7, and unmanned aerial vehicle descends perpendicularly.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all technical scheme that belong to under the utility model thought belongs to the utility model discloses a scope of protection. For those skilled in the art, several modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. Fixed wing unmanned aerial vehicle takes off and land perpendicularly mainly comprises two brushless DC motor (8), coaxial reversal motor (7), positive oar (3), anti-oar (12), wingtip (1), wing (2), square carbon rod (4), circular carbon rod (9), fuselage (5), biax steering wheel (6), unipolar steering wheel (13), steering wheel seat (10), motor frame (11), square shaft (14), its characterized in that: the left brushless direct current motor (8) stator and the right brushless direct current motor (8) stator are fixedly connected with two ends of a square carbon rod (4) through bolts, a rotor center shaft is respectively fastened with a positive paddle (3) and a negative paddle (12) through anti-loosening bolts, the middle part of the square carbon rod (4) is fixedly connected with a machine body (5), the middle part of a wing (2) is fixedly connected with the machine body (5), the left end and the right end are fixedly connected with a wing tip (1), two round carbon rods (9) penetrate through the whole wing (2) through the machine body and are fixed with the wing tip, a single-shaft steering engine (13) is fixedly connected with the machine body (5), a steering engine shaft is fixedly connected with the rear end of a square shaft (14) through bolts, the middle part of the square shaft (14) is connected with the machine body (5) through a bearing in a revolute pair mode and can freely rotate relative to the machine body, the front end is fixedly connected with a steering engine base (10), a double-shaft steering engine (6) is fixedly installed on the steering engine base (10), and a steering engine is fixedly connected with a motor frame (11) through bolts, the stator of a coaxial reverse motor (7) is fixedly connected with a motor frame (11) through a bolt, a rotor center shaft is provided with a positive paddle (3) and a negative paddle (12) and is fastened by a check bolt, a left brushless direct current motor (8) and a right brushless direct current motor (8) respectively drive the positive paddle (3) and the negative paddle (12) and rotate reversely, under a three-rotor mode, the rotation angle of a double-shaft steering engine (6) is 0 degree, the axial lead of the coaxial reverse motor (7) is vertical to a ground plane, the rotation angle of the double-shaft steering engine (6) under a fixed wing mode is 0-90 degrees, the included angle between the axial lead of the coaxial reverse motor (7) and the ground plane is less than 90 degrees, the double-shaft steering engine (6) can rotate by 0-180 degrees, the tilt angle of the coaxial reverse motor (7) is controlled, the single shaft (13) can rotate by-60 degrees and +60 degrees, and the left-right deflection angle of the coaxial reverse motor (7) is controlled to realize the yaw of the unmanned aerial vehicle, the angle is negative left yaw and the angle is positive right yaw.

2. The VTOL fixed wing UAV of claim 1, wherein the dual-axis steering engine (6) has a rotation angle of 0 ° in VTOL mode.

3. The VTOL fixed wing drone of claim 1, characterized by coaxial counter-rotating motors (7) with equal shaft spacing to brushless dc motors (8).

4. A vtol fixed wing drone according to claim 1, characterised by a single axis steering engine (13) that can be deflected left and right.

5. The VTOL fixed wing UAV of claim 1, wherein the dual-axis steering engine (6) can tilt back and forth.

6. The VTOL fixed wing drone of claim 1, characterized by the absence of a conventional fixed wing drone tail.