WO2018098993A1 - 一种螺旋桨双轴矢量伺服变向装置及垂直起降固定翼无人机 - Google Patents

一种螺旋桨双轴矢量伺服变向装置及垂直起降固定翼无人机 Download PDF

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Publication number
WO2018098993A1
WO2018098993A1 PCT/CN2017/082980 CN2017082980W WO2018098993A1 WO 2018098993 A1 WO2018098993 A1 WO 2018098993A1 CN 2017082980 W CN2017082980 W CN 2017082980W WO 2018098993 A1 WO2018098993 A1 WO 2018098993A1
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Prior art keywords
propeller
steering gear
engine
base
swing arm
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PCT/CN2017/082980
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English (en)
French (fr)
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蔡英杰
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深圳市优鹰科技有限公司
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Publication of WO2018098993A1 publication Critical patent/WO2018098993A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B64C9/04—Adjustable control surfaces or members, e.g. rudders with compound dependent movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/296—Rotors with variable spatial positions relative to the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/296—Rotors with variable spatial positions relative to the UAV body
    • B64U30/297—Tilting rotors

Definitions

  • the invention relates to the technical field of drones, in particular to a propeller biaxial vector servo redirection device and a vertical take-off and landing fixed-wing UAV formed by the reversing device.
  • the UAV is a non-manned aerial vehicle that is controlled by radio remote control equipment and its own program control device. It is widely used because of its flexibility, quick response, unmanned flight and low operational requirements. Aerial photography, agricultural plant protection, disaster relief, geological mapping, news reports, power inspections, film and television shooting, military reconnaissance and many other fields.
  • the thrust reversal technology plays a vital role in the flight attitude adjustment and flight height adjustment of the drone.
  • the thrust reversal technology in the traditional sense generally refers to the technology that the engine thrust is controlled by the deflection of the nozzle or the tail jet to replace the control surface of the original aircraft or enhance the maneuvering function of the aircraft, and to control the flight of the aircraft in real time.
  • the existing drones mainly rely on the propeller Control to achieve the thrust function of the thrust, that is, by controlling the engine to cause the thrust to generate longitudinal or lateral deflection, thereby generating additional thrust components and additional thrust moments for the drone to achieve thrust deflection of the aircraft, thereby enabling the aircraft to Gain additional control capabilities to achieve flight attitude and flight altitude adjustment control.
  • the existing propeller thrust direction changing mechanism there are still some deficiencies in the design of the structure, which leads to many problems such as poor flexibility of the propeller direction, small range of direction change, and poor stability of the direction change process.
  • Some propeller changing mechanisms also have defects such as relatively complicated structure, unreasonable arrangement of structural components, difficulty in implementation, and the like.
  • the existing UAVs are generally divided into fixed-wing UAVs and Rotary Wing UAVs; among them, the rotary-wing UAV mainly relies on the engine to make the rotary wing rotate around its own axis, and the rotary wing rotates.
  • the relative motion with the air obtains lift, but since the rotary wing provides mainly lift, the rotary wing drone obtains a smaller horizontal thrust parallel to the fuselage axis, so the horizontal flight speed is slower.
  • the fixed-wing drone is mainly driven by the engine.
  • the engine drive generates horizontal thrust parallel to the axis of the fuselage, so that the drone can fly at high speed in the air, but because the engine can not produce lift perpendicular to the axis of the fuselage, it is fixed.
  • the winged drone can only obtain the lift by the relative movement between the fixed wing and the air to overcome the gravity of the fixed-wing UAV.
  • the magnitude of the lift and the relative motion speed between the fixed wing and the air are positively correlated.
  • the horizontal speed is such that the fixed-wing drone gains sufficient lift to take off; 2.
  • the fixed-wing drone needs to maintain sufficient flight speed after take-off to obtain sufficient lift to overcome its own gravity. Based on this, current drones either have a slower horizontal flight or rely on long runways and need to maintain sufficient flight speed after takeoff.
  • an object of the present invention to provide a propeller biaxial vector servo redirecting device; another object of the present invention is to provide a vertical takeoff and landing fixed wing formed based on the redirecting device Drone.
  • the first technical solution adopted by the present invention is:
  • a propeller biaxial vector servo redirection device comprising a fixed steering gear fixedly mounted on a tail end of a drone, a rotary steering gear coupled to a fixed steering gear, and a propeller engine coupled to a rotating steering gear And a propeller mounted on the output shaft of the propeller engine;
  • the fixed steering gear drives the rotary steering gear to rotate up and down in a YZ axis plane relative to the fixed steering gear, the rotary steering gear driving the propeller engine relative to the rotating steering gear
  • the left and right rotational motions are performed in the plane of the upper XY axis, and the propeller engine drives the propeller to perform a rotational motion with the central axis of the propeller engine as a central axis.
  • the fixed steering gear includes a first steering base fixedly mounted on the tail end of the drone and a first vector motor fixedly mounted on the first steering base, the first An output shaft of a vector motor is arranged along the X-axis direction, and a center line of the output shaft of the first vector motor is located in a central region of the first servo base;
  • Two first spiral arms are disposed on the bottom surface of the rotating steering gear and symmetrically disposed along the X-axis direction, and the ends of the two first rotating arms are respectively axially connected to the lower region of the first steering base and are respectively located a first active swing arm is sleeved on the output shaft of the first vector motor, and a first connecting swing arm is connected to the central region of the rotary steering gear.
  • the head end of an active swing arm is axially coupled to the end of the first articulating arm;
  • the first vector motor drives the rotary steering gear through the first active swing arm and the first articulating swing arm with the connecting line between the ends of the two first rotating arms as the rotation axis in the YZ axis plane relative to the first steering gear
  • the base is rotated from top to bottom or from bottom to top.
  • the cross-sectional shape of the first servo base in the X-axis direction is a "U" shape
  • the first vector motor is fixedly mounted on the bottom plate of the first steering base
  • the two A swing arm is located between the two opposite side plates of the first servo base and each of the first swing arms is connected to a side plate of the corresponding first servo base via a pivot axis.
  • a plurality of anti-slip racks are circumferentially and evenly disposed on the inner wall of the sleeve hole of the first active swing arm.
  • the head end of the first active swing arm is formed with two oppositely distributed first shaft plates, and the end of the first connecting swing arm is clamped between the two first shaft plates and passes through a connecting shaft Connected to the first shaft plate.
  • the rotary steering gear comprises a second steering gear base and a second vector motor fixedly mounted on a bottom surface of the second steering gear base, the two first first arm being provided by the second steering base
  • the left and right sides of the bottom surface of the seat are extended toward the direction of the first servo base, the output shaft of the second vector motor is arranged along the Y-axis direction, and the lower region of the second servo base is along the X a limit strip opening is defined in the axial direction, and an output shaft of the second vector motor is located in a central portion of the limit strip opening;
  • Two second spiral arms are symmetrically disposed on the bottom surface of the propeller engine and on the upper and lower sides of the limiting bar mouth, and the top surface of the second steering gear base corresponds to each second spiral arm
  • the position of each of the second vector arms is coupled with a second active swing arm, and the eccentric region of the propeller engine is coupled with a second Connecting the swing arm, the head end of the second active swing arm is axially connected to the end of the second connecting swing arm;
  • the second vector motor drives the propeller engine through the second active swing arm and the second articulated swing arm with the connecting line between the ends of the two second spiral arms as the rotation axis in the XY plane relative to the second steering base Make a left-to-right or right-to-left rotary motion.
  • a plurality of anti-slip racks are circumferentially and evenly disposed on the inner wall of the sleeve hole of the second active swing arm.
  • the head end of the second active swing arm is formed with two oppositely distributed second shaft plates, and the end of the second connecting swing arm is clamped between the two second shaft plates and passes through a connecting shaft Connected to the second shaft plate.
  • the propeller engine includes an engine body and an engine base fixedly mounted on a bottom surface of the engine body, and the two second arms are formed on a bottom surface of the engine base, and the engine base Also provided on the bottom surface are two second shaft plates for clamping the head end of the second connecting swing arm and axially connecting with the head end of the second connecting swing arm, and the two second shaft plates are The two second arms are distributed in a triangle shape centering on the central axis of the engine body, and the propeller is fitted on the output shaft of the engine body.
  • a vertical take-off and landing fixed-wing UAV comprising a fuselage and two wings fixed to the fuselage and symmetrically distributed with respect to a length direction of the fuselage, each of the wings being vertically mounted a power propeller, the tail end of the fuselage is provided with a propeller biaxial vector servo redirecting device;
  • the vertical power propeller includes a suspension beam fixed to a front end side of the wing along a Z-axis direction, a fixing seat installed at a front end of the suspension beam, a lifting motor seated on the fixing seat along the Y-axis direction, and A lifting propeller that rotates in the X-Z axis plane on the output shaft of the hoist motor and with the central axis of the hoisting motor as the rotating shaft.
  • the present invention utilizes the driving and structural relationship between the fixed steering gear, the steering servo, the propeller engine and the propeller, and can realize the driving effect of the two-axis universal direction, so as to finally enable the rotation state of the propeller to be multiple
  • the direction and the in-plane are carried out to provide conditions for the aircraft to hover, horizontally push, and turn at various angles, effectively expanding the range of the UAV's direction of change, and providing a change in the flight attitude of the UAV. Strong guarantee; its structure is simple and compact, control precision and stability are high, flexibility is strong, and it has strong practical application value and market promotion value.
  • the fixed-wing UAV formed by the direction changing device can not only realize the functions of vertical take-off and landing, air hovering, flight attitude adjustment, etc., but also can effectively save the conversion by changing the direction changing device and the vertical power propeller.
  • the energy loss of the man-machine provides favorable conditions for extending the life of the drone and reducing its mission load.
  • FIG. 1 is a schematic structural view of a redirecting device according to an embodiment of the present invention in an installed state
  • FIG. 2 is a schematic structural view showing the structure of a redirecting device according to an embodiment of the present invention
  • FIG. 3 is a schematic exploded view of a redirecting device according to an embodiment of the present invention (1);
  • FIG. 4 is a schematic exploded view of a redirecting device according to an embodiment of the present invention (2);
  • Figure 5 is a schematic exploded view of the structure of the redirecting device according to the embodiment of the present invention (3);
  • Figure 6 is a schematic exploded view of the structure of the redirecting device according to the embodiment of the present invention (4);
  • Figure 7 is a perspective view showing the structure of a fixed-wing UAV according to an embodiment of the present invention.
  • Figure 8 is a plan view showing the structure of a fixed-wing UAV according to an embodiment of the present invention.
  • the propeller biaxial vector servo redirection device includes a fixed installation on the tail end of the UAV (such as the end surface of the UAV).
  • a fixed steering gear a drives the steering servo b to rotate up and down in the YZ axis plane with respect to the fixed steering gear a
  • the steering servo b drives the propeller engine c to rotate left and right in the upper XY plane relative to the rotating steering gear b
  • the XY axis plane mentioned here is an opposite plane, that is, when there is no relative rotation between the turning servo b and the fixed steering gear a, the turning of the steering gear b drives the propeller engine c.
  • the propeller engine c drives the propeller d to the propeller engine c
  • the central axis rotates for the center axis motion.
  • the fixed steering gear a acts on the rotational driving of the steering servo b
  • the rotary steering gear b drives the propeller engine c to perform synchronous rotation
  • the rotary steering gear b directly drives the propeller engine c to form a two-axis universal joint.
  • the driving effect that is, the rotation state of the propeller d can be finally made in a plurality of directions and planes; for example, after the device of the embodiment is mounted on a fixed-wing UAV, by using other forms of propellers and passing
  • the steering control of the propeller d realizes the high-altitude hovering, horizontal pushing, and steering of various angles of the aircraft, which effectively expands the range of the UAV's redirecting direction and provides a powerful guarantee for the change of the flying attitude of the UAV. .
  • the fixed steering gear a of the present embodiment includes a first steering gear base 10 fixedly mounted on the tail end of the drone and fixedly mounted on a first vector motor 11 on the first steering base 10; wherein the output shaft of the first vector motor 11 is disposed on the first steering base 10 in the X-axis direction, and the first vector motor 11
  • the center line of the output shaft is located in the central region of the first steering base 10; at the same time, two first spiral arms 20 are disposed symmetrically on the bottom surface of the rotating steering gear b and along the X-axis direction, and the two first rotations
  • the ends of the arms 20 are all connected to the first rudder
  • the lower portion of the base 10 of the machine base 10 is located on the left and right sides of the first vector motor 11, respectively, and the first active swing arm 12 is sleeved on the output shaft of the first vector motor 11 in the middle region of the steering servo b.
  • the shaft is connected with a first connecting swing arm 21, and the head end of the first active swing arm 12 is axially connected with the end of the first connecting swing arm 21; thus, the power provided by the first vector motor 11 can be used to pass the first active swing
  • the arm 12 and the first engaging swing arm 21 to drive the turning servo b can be made with respect to the first steering base 10 in the YZ axis plane with the connecting line between the ends of the two first rotating arms 20 as the rotation axis.
  • the top-down or bottom-up rotational motion ie, equivalent to enabling the turning servo b to be fixed with the lower edge of the fixed servo a as the axis and opening or closing at a certain angle).
  • the rotary steering gear b can be rotated within 90 degrees with respect to the fixed steering gear a, such as when the central axis of the steering gear b is rotated and the fixed steering gear a
  • the propeller d can be rotated left and right at any angle in the plane of the XY axis; when the central axis of the steering servo b is perpendicular to the central axis of the fixed steering gear a (ie, two
  • the propeller d can be rotated at any angle in the XZ axis plane; at the same time, the vector motor is used to provide power, and the precision, stability and flexibility of the steering servo b can also be exercised.
  • Sex provides the basis for system control.
  • the first steering base 10 of the present embodiment adopts a structure in which the cross-sectional shape in the X-axis direction is "U"-shaped.
  • the first vector motor 11 is fixedly mounted on the bottom plate of the first steering base 10, and the two first spiral arms 20 are located between the two opposite side plates of the first steering base 10 and each first The arms 20 are each connected to the side plates of the corresponding first servo base 10 via a pivot axis.
  • the U-shaped structure of the first steering base 10 can be used to provide the first vector motor 11 with sufficient installation space, so that the rotary steering gear b can be aligned with the fixed rudder with the first rotating arm 20 as the axis.
  • Machine a performs a smooth rotation.
  • a plurality of strips are circumferentially and evenly disposed on the inner wall of the sleeve hole of the first active swing arm 12.
  • a non-slip rack (not shown) is used to enhance the friction between the first active swing arm 12 and the output shaft of the first vector motor 11 by using a non-slip rack.
  • first active swing arm 12 In order to avoid unnecessary swing of the first active swing arm 12 during the passage of the first connecting swing arm 21, two oppositely distributed first axial plates e are formed at the head end of the first active swing arm 12, first The end of the engaging swing arm 21 is clamped between the two first shaft plates e and connected to the first shaft plate e through a connecting shaft.
  • the rotary steering gear b of the present embodiment includes a second steering gear base 22 and a second vector motor 23 fixedly mounted on the bottom surface of the second steering gear base 22, two The first spiral arms 20 are formed by extending the left and right sides of the bottom surface of the second steering base 22 toward the first steering base 10, and the output shaft of the second vector motor 23 is at the second steering base.
  • a limit bar opening f is opened in the lower region of the second steering base 23 and along the X-axis direction, and the output shaft of the second vector motor 23 is located in the central portion of the limit bar opening f
  • Two second spiral arms 30 are symmetrically disposed on the bottom surface of the propeller engine c and on the upper and lower sides of the limit bar opening f, on the top surface of the second steering base 22 and each second The corresponding positions of the arms 30 are formed with a support arm 24 axially coupled to the corresponding second arm 30.
  • the output shaft of the second vector motor 23 is sleeved with a second active swing arm 25, and the eccentricity of the propeller engine c
  • the regional shaft is connected with a second connecting swing arm 31, and the head end of the second active swing arm 25 is opposite to the end of the second connecting swing arm 31.
  • the propeller engine c can be driven by the second active swing arm 25 and the second articulating arm 31 by the power provided by the second vector motor 23, and the connecting line between the ends of the two second spiral arms 30 is
  • the rotation axis makes a left-to-right or right-to-left rotation motion with respect to the second steering base 22 in the XY plane (ie, the equivalent of the propeller engine c can rotate the steering gear c in the Y-axis direction of the central axis For the shaft and at a certain angle for left-hand rotation or right-hand rotation movement); when there is no relative movement between the fixed steering gear a and the rotary steering gear b, the left-right direction change effect of the entire device can be realized, and the fixed steering gear is fixed a When the relative movement of the turning servo b occurs, the superposition effect of the turning direction effect can also be realized, thereby providing conditions for the multi-direction changing direction of the device, thereby advantageously ensuring the functions of lifting, hovering and changing of the drone. .
  • a plurality of anti-slip racks are circumferentially and evenly disposed on the inner wall of the sleeve hole of the second active swing arm 25 of the present embodiment.
  • the head end is formed with two oppositely distributed second shaft plates g. The ends of the second engaging swing arms 31 are clamped between the two second shaft plates g and connected to the second shaft plate g through a connecting shaft.
  • the propeller engine c of the present embodiment includes an engine body 32 and an engine base 33 fixedly mounted on the bottom surface of the engine body 32.
  • the two second arm arms 30 are formed on the bottom surface of the engine base 33, and
  • the bottom surface of the engine base 33 is also symmetrically disposed with two second shaft plates h for clamping the head end of the second connecting swing arm 31 and axially connecting with the head end of the second connecting swing arm 31, two
  • the second axle plate h and the two second swing arms 30 are triangularly distributed around the central axis of the engine body 32, and the propeller d is fitted to the output shaft of the engine body 32.
  • the embodiment of the present invention further provides a vertical take-off and landing fixed-wing unmanned aerial vehicle, as shown in FIG. 7 and FIG. 8 and simultaneously combined with FIG. 1 to FIG. 6, which includes a fuselage k and Two wings m fixed on the fuselage k and symmetrically distributed with respect to the longitudinal direction of the fuselage k (ie, the Z-axis direction), and each of the wings m is provided with a vertical power propeller, in the fuselage
  • the tail end of k is provided with a propeller biaxial vector servo redirection device as described above; wherein the vertical power propeller includes a suspension beam 40 fixed to the front end side of the wing m in the Z-axis direction, and is installed at the front end of the suspension beam 40
  • the fixing base 41 and the lifting motor 42 seated on the fixing base 41 in the Y-axis direction (the output shaft thereof may be arranged upward in the Y-axis direction, or may be arranged downward in the Y
  • the vertical power (ie, the Y-axis direction) provided by the vertical power propeller can be used to realize the take-off and landing of the drone, and it is not necessary to set a special runway for the fixed-wing drone so that it can be in any environmental place.
  • Both can take off and land, in the process can turn off the redirecting device; when the aircraft is flying in the air, using the air buoyancy and the multi-directional thrust generated by the redirecting device, the aircraft can maintain sufficient horizontal flight power, and Realizing the steering of the aircraft and changing the attitude of the aircraft, etc., the vertical power propeller can be turned off during this process; while the drone is hovering in the air, the vertical power propeller can be activated and the redirecting device can be turned off.

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Abstract

一种螺旋桨双轴矢量伺服变向装置及垂直起降固定翼无人机，其包括固定地装设于无人机的尾端上的固定舵机、轴连于固定舵机上的转动舵机、轴连于转动舵机上的螺旋桨发动机及套装于螺旋桨发动机的输出轴上的螺旋桨；固定舵机驱动转动舵机作上下旋转运动，转动舵机驱动螺旋桨发动机作左右旋转运动，螺旋桨发动机驱动螺旋桨作旋转运动。利用固定舵机、转动舵机、螺旋桨发动机及螺旋桨之间的驱动及结构关系，可形成双轴万向的驱动效果，以最终使螺旋桨的转动状态能够在多个方向及平面内进行，为实现飞机的高空悬停、水平推送、各种角度的转向等提供了条件，有效地扩大了无人机变向的范围，为无人机的飞行姿态的变换提供了有力的保障。

Description

一种螺旋桨双轴矢量伺服变向装置及垂直起降固定翼无人机 技术领域
本发明涉及无人机技术领域，尤其是一种螺旋桨双轴矢量伺服变向装置以及基于此变向装置所形成的垂直起降固定翼无人机。
背景技术
无人机是一种利用无线电遥控设备和自备的程序控制装置操控的不载人飞行器，因其所具有的机动灵活、反应快速、无人飞行和操作要求低等优点而被被广泛应用于航拍、农业植保、灾难救援、地质测绘、新闻报道、电力巡检、影视拍摄、军事侦察等诸多领域。
目前，推力变向技术在无人机的飞行姿态调整以及飞行高度调整的过程中起到至关重要的作用。传统意义上的推力变向技术一般是指发动机推力通过喷管或尾喷流的偏转产生的推力分量来替代原飞机的操纵面或增强飞机的操纵功能，对飞机的飞行进行实时控制的技术，可以有效提高飞机的操纵能力，从而能减小飞机的气动舵面，增强飞机的综合飞行性能；但鉴于无人机本身的结构性和功能性，现有的无人机主要是依靠对螺旋桨的控制来实现推力的变向功能，即：通过控制发动机使其推力产生纵向或横向的偏转，从而对无人机产生附加的推力分量和附加推力力矩，以实现对飞机的推力偏转，进而使飞机获得额外的控制能力，实现飞行姿态及飞行高度的调整控制。然而，由于现有的螺旋桨推力变向机构在结构的设计上仍然存在一定的不足，导致螺旋桨变向存在灵活性较差、方向变化的范围小、变向过程稳定性差等诸多问题；同时，现有的螺旋桨变向机构还存在本身结构相对复杂、结构部件布置不合理、实现困难等等缺陷。
再者，现有的无人机通常被划分为固定翼无人机与旋转翼无人机两种；其中，旋转翼无人机主要依靠引擎使旋转翼绕自身轴线自转，旋转翼自转时 与空气产生相对运动获得升力，但是由于旋转翼提供的主要是升力，旋转翼无人机获得的平行于机身轴线的水平推力较小，所以水平飞行速度较慢。而固定翼无人机则主要是依靠引擎推动，引擎驱动产生平行于机身轴线的水平推力，使无人机可以在空中高速飞行，但是由于引擎不能产生垂直于机身轴线的升力，所以固定翼无人机只能通过固定翼与空气间的相对运动来获得升力，以克服固定翼无人机的重力，升力的大小和固定翼与空气间的相对运动速度存在正相关关系，相对运动速度越大，固定翼无人机所获得的升力也越大；从而使得固定翼无人机主要存在着以下两个缺点：一、起飞时需要较长的跑道才能使固定翼无人机获得足够的水平速度，以使固定翼无人机获得足够的升力起飞；二、固定翼无人机在起飞后需要保持足够的飞行速度才能获得足够的升力以克服自身的重力。基于此，目前的无人机要么水平飞行速度较慢，要么需要依赖长跑道且起飞后需要保持足够的飞行速度。
发明内容
针对上述现有技术存在的不足，本发明的一个目的在于提供一种螺旋桨双轴矢量伺服变向装置；本发明的另一个目的在于提供一种基于此变向装置所形成的垂直起降固定翼无人机。
为了实现上述目的，本发明采用的第一个技术方案为：
一种螺旋桨双轴矢量伺服变向装置，它包括固定地装设于无人机的尾端上的固定舵机、轴连于固定舵机上的转动舵机、轴连于转动舵机上的螺旋桨发动机以及套装于螺旋桨发动机的输出轴上的螺旋桨；所述固定舵机驱动转动舵机相对于固定舵机在Y-Z轴平面内作上下旋转运动，所述转动舵机驱动螺旋桨发动机相对于转动舵机在上X-Y轴平面内作左右旋转运动，所述螺旋桨发动机驱动螺旋桨以螺旋桨发动机的中心轴为中轴线作旋转运动。
优选地，所述固定舵机包括固定地装设于无人机的尾端上的第一舵机基座和固定地装设于第一舵机基座上的第一矢量马达，所述第一矢量马达的输出轴沿X轴方向布置，且第一矢量马达的输出轴的中心线位于第一舵机基座的中部区域内；
所述转动舵机的底面上且沿X轴方向对称地设置有两个第一旋臂，两个所述第一旋臂的末端均轴连于第一舵机基座下部区域内且分别位于第一矢量马达的左侧和右侧，所述第一矢量马达的输出轴上套接有第一主动摆臂，所述转动舵机的中部区域轴连有第一衔接摆臂，所述第一主动摆臂的头端与第一衔接摆臂的末端相轴连；
所述第一矢量马达通过第一主动摆臂和第一衔接摆臂驱动转动舵机以两个第一旋臂的末端之间的连接线为旋转轴线在Y-Z轴平面内相对于第一舵机基座作由上至下或由下至上的旋转运动。
优选地，所述第一舵机基座沿X轴方向的截面形状为“U”形，所述第一矢量马达固定地装设于第一舵机基座的底板上，两个所述第一旋臂位于第一舵机基座的两个相对侧板之间且每个所述第一旋臂均通过一枢转轴与对应的第一舵机基座的侧板相连。
优选地，所述第一主动摆臂的套孔内壁上环周且均匀地设置有若干条防滑齿条。
优选地，所述第一主动摆臂的头端形成有两个相对分布的第一轴板，所述第一衔接摆臂的末端夹持于两个第一轴板之间并通过一连接轴与第一轴板相连。
优选地，所述转动舵机包括第二舵机基座和固定地装设于第二舵机基座的底面上的第二矢量马达，两个所述第一旋臂由第二舵机基座的底面的左右两侧朝第一舵机基座的方向作延伸后成型，所述第二矢量马达的输出轴沿Y轴方向布置，所述第二舵机基座的下部区域且沿X轴方向开设有一限位条口，所述第二矢量马达的输出轴位于限位条口的中部区域内；
所述螺旋桨发动机的底面上且位于限位条口的上下两侧对称地设置有两个第二旋臂，所述第二舵机基座的顶面上且与每个第二旋臂相对应的位置均形成有一与对应的第二旋臂相轴连的支撑臂，所述第二矢量马达的输出轴上套接有第二主动摆臂，所述螺旋桨发动机的偏心区域轴连有第二衔接摆臂，所述第二主动摆臂的头端与第二衔接摆臂的末端相轴连；
所述第二矢量马达通过第二主动摆臂和第二衔接摆臂驱动螺旋桨发动机以两个第二旋臂的末端之间的连接线为旋转轴线在X-Y平面内相对于第二舵机基座作由左至右或由右至左的旋转运动。
优选地，所述第二主动摆臂的套孔内壁上环周且均匀地设置有若干条防滑齿条。
优选地，所述第二主动摆臂的头端形成有两个相对分布的第二轴板，所述第二衔接摆臂的末端夹持于两个第二轴板之间并通过一连接轴与第二轴板相连。
优选地，所述螺旋桨发动机包括发动机本体以及固定地装设于发动机本体的底面上的发动机基座，两个所述第二旋臂均形成于发动机基座的底面上，且所述发动机基座的底面上还对称地设置有两个用于夹持第二衔接摆臂的头端并与第二衔接摆臂的头端相轴连的第二轴板，两个所述第二轴板与两个第二旋臂以发动机本体的中轴线为中心呈三角形分布，所述螺旋桨套装于发动机本体的输出轴上。
本发明采用的第二个技术方案为：
一种垂直起降固定翼无人机，它包括机身和固定于机身上并相对于机身的长度方向呈对称分布的两个机翼，每个所述机翼上均装设有垂直动力螺旋桨，所述机身的尾端装设有一上述的一种螺旋桨双轴矢量伺服变向装置；
所述垂直动力螺旋桨包括沿Z轴方向固定于机翼的前端侧的悬梁、装设于悬梁的前端的固定座、沿Y轴方向座设于固定座上的升降马达以及装设于 升降马达的输出轴上并以升降马达的中心轴为转轴在X-Z轴平面内作旋转运动的升降螺旋桨。
由于采用了上述方案，本发明利用固定舵机、转动舵机、螺旋桨发动机及螺旋桨之间的驱动及结构关系，可形成双轴万向的驱动效果，以最终使螺旋桨的转动状态能够在多个方向及平面内进行，为实现飞机的高空悬停、水平推送、各种角度的转向等等提供了条件，有效地扩大了无人机变向的范围，为无人机的飞行姿态的变换提供了有力的保障；其结构简单紧凑、控制精度及稳定性高、灵活性强，具有很强的实际应用价值和市场推广价值。同时，由变向装置所形成的固定翼无人机则不但可以实现垂直起降、空中悬停、飞行姿态调整等功能，而且通过对变向装置以及垂直动力螺旋桨的转换控制，可有效节省无人机的能量损耗，为延长无人机的续航时间以及降低其任务载荷提供了有利条件。
附图说明
图1是本发明实施例的变向装置在安装状态下的结构示意图；
图2是本发明实施例的变向装置的结构装配示意图；
图3是本发明实施例的变向装置的结构分解示意图(一)；
图4是本发明实施例的变向装置的结构分解示意图(二)；
图5是本发明实施例的变向装置的结构分解示意图(三)；
图6是本发明实施例的变向装置的结构分解示意图(四)；
图7是本发明实施例的固定翼无人机的立体结构示意图；
图8是本发明实施例的固定翼无人机的平面结构示意图。
具体实施方式
以下结合附图对本发明的实施例进行详细说明，但是本发明可以由权利要求限定和覆盖的多种不同方式实施。
如图1至图6所示，本实施例提供的一种螺旋桨双轴矢量伺服变向装置，它包括固定地装设于无人机的尾端(如无人机的尾端端面上)上的固定舵机a、轴连于固定舵机a上的转动舵机b、轴连于转动舵机b上的螺旋桨发动机c以及套装于螺旋桨发动机c的输出轴上的螺旋桨d；其中，固定舵机a驱动转动舵机b相对于固定舵机a在Y-Z轴平面内作上下旋转运动，转动舵机b则可驱动螺旋桨发动机c相对于转动舵机b在上X-Y轴平面内作左右旋转运动(可以理解为：此中所提及的X-Y轴平面是一个相对的平面，即当转动舵机b与固定舵机a之间未产生相对转动时，此时转动舵机b驱动螺旋桨发动机c动作恰好实在一个标准的X-Y轴平面内，而当转动舵机b与固定舵机a之间发生相对转动时，则此时的X-Y轴是一个相对的平面)，螺旋桨发动机c驱动螺旋桨d以螺旋桨发动机c的中心轴为中轴线作旋转运动。
如此，利用固定舵机a对转动舵机b的旋转驱动作用、转动舵机b带动螺旋桨发动机c进行同步转动的作用以及转动舵机b直接对螺旋桨发动机c的驱动作用，形成双轴万向的驱动效果，即：可最终使螺旋桨d的转动状态能够在多个方向及平面内进行；如在将本实施例的装置装设于诸如固定翼无人机上后，通过配合其他形式的螺旋桨并通过对螺旋桨d的转向控制，实现飞机的高空悬停、水平推送、各种角度的转向等等，有效地扩大了无人机变向的范围，为无人机的飞行姿态的变换提供了有力的保障。
为增强固定舵机a对转动舵机b的驱动效果，本实施例的固定舵机a包括固定地装设于无人机的尾端上的第一舵机基座10和固定地装设于第一舵机基座10上的第一矢量马达11；其中，第一矢量马达11的输出轴在第一舵机基座10上呈沿X轴方向布置的状态，且第一矢量马达11的输出轴的中心线位于第一舵机基座10的中部区域内；同时，在转动舵机b的底面上且沿X轴方向对称地设置有两个第一旋臂20，两个第一旋臂20的末端均轴连于第一舵 机基座10下部区域内且分别位于第一矢量马达11的左侧和右侧，在第一矢量马达11的输出轴上套接有第一主动摆臂12，在转动舵机b的中部区域轴连有第一衔接摆臂21，第一主动摆臂12的头端与第一衔接摆臂21的末端相轴连；从而，可利用第一矢量马达11所提供的动力通过第一主动摆臂12和第一衔接摆臂21来驱动转动舵机b能够以两个第一旋臂20的末端之间的连接线为旋转轴线在Y-Z轴平面内相对于第一舵机基座10作由上至下或由下至上的旋转运动(即：相当于使转动舵机b能够以固定舵机a的下边沿为轴并以一定夹角作开启或闭合运动)。利用上述结构并通过对相关部件的具体尺寸控制，可使转动舵机b能够相对于固定舵机a在90度范围内进行转动，如当转动舵机b的中轴线与固定舵机a的中轴线相重合时(即两者相对闭合时)，螺旋桨d可在X-Y轴平面内作任意角度的左右转动；当转动舵机b的中轴线与固定舵机a的中轴线相垂直时(即两者相对开启到最大角度时)，螺旋桨d则可在X-Z轴平面内作任意角度的左右转动；同时，利用矢量马达来提供动力，也可为转动舵机b运动的精密性、稳定性及灵活性提供***控制基础。
为最大限度地优化整个固定舵机a的结构，合理地对相关组成部件进行结构搭配，本实施例的第一舵机基座10采用沿X轴方向的截面形状为“U”形的结构体，第一矢量马达11固定地装设于第一舵机基座10的底板上，两个第一旋臂20位于第一舵机基座10的两个相对侧板之间且每个第一旋臂20均通过一枢转轴与对应的第一舵机基座10的侧板相连。以此，可利用第一舵机基座10的U型结构形式，在为第一矢量马达11提供足够安装空间的同时，使得转动舵机b能够以第一旋臂20为轴相对于固定舵机a进行平稳的转动。
为避免第一矢量马达11在驱动转动舵机b进行转动时出现滑脱的问题，保证整个装置动作的精密性，在第一主动摆臂12的套孔内壁上环周且均匀地设置有若干条防滑齿条(图中未示出)，以利用防滑齿条来增强第一主动摆臂12与第一矢量马达11的输出轴之间的摩擦力。
为避免第一主动摆臂12在通过第一衔接摆臂21的过程中出现不必要的摆动，在第一主动摆臂12的头端形成有两个相对分布的第一轴板e，第一衔接摆臂21的末端夹持于两个第一轴板e之间并通过一连接轴与第一轴板e相连。
为最大限度地优化整个装置的结构，本实施例的转动舵机b包括第二舵机基座22和固定地装设于第二舵机基座22的底面上的第二矢量马达23，两个第一旋臂20由第二舵机基座22的底面的左右两侧朝第一舵机基座10的方向作延伸后成型，第二矢量马达23的输出轴在第二舵机基座22上沿Y轴方向布置，同时在第二舵机基座23的下部区域且沿X轴方向开设有一限位条口f，第二矢量马达23的输出轴位于限位条口f的中部区域内；在螺旋桨发动机c的底面上且位于限位条口f的上下两侧对称地设置有两个第二旋臂30，在第二舵机基座22的顶面上且与每个第二旋臂30相对应的位置均形成有一与对应的第二旋臂30相轴连的支撑臂24，第二矢量马达23的输出轴上套接有第二主动摆臂25，螺旋桨发动机c的偏心区域轴连有第二衔接摆臂31，第二主动摆臂25的头端与第二衔接摆臂31的末端相轴连；以此，可利用第二矢量马达23所提供的动力通过第二主动摆臂25和第二衔接摆臂31来驱动螺旋桨发动机c以两个第二旋臂30的末端之间的连接线为旋转轴线在X-Y平面内相对于第二舵机基座22作由左至右或由右至左的旋转运动(即：相当于时螺旋桨发动机c能够以转动舵机c在Y轴方向的中轴线为轴并以一定角度作左向旋转或右向旋转运动)；当固定舵机a与转动舵机b之间未出现相对运动时，可实现整个装置的左右向变向效果，在固定舵机a与转动舵机b出现相对运动时，也可实现变向效果的叠加，从而为装置的多方向变向推动提供了条件，有利地保证了无人机的升降、悬停以及变向等功能。
基于上述同样原理，在本实施例的第二主动摆臂25的套孔内壁上环周且均匀地设置有若干条防滑齿条(图中未示出)。同时，在第二主动摆臂25的 头端形成有两个相对分布的第二轴板g，第二衔接摆臂31的末端夹持于两个第二轴板g之间并通过一连接轴与第二轴板g相连。
另外，本实施例的螺旋桨发动机c包括发动机本体32以及固定地装设于发动机本体32的底面上的发动机基座33，两个第二旋臂30均形成于发动机基座33的底面上，且发动机基座33的底面上还对称地设置有两个用于夹持第二衔接摆臂31的头端并与第二衔接摆臂31的头端相轴连的第二轴板h，两个第二轴板h与两个第二旋臂30以发动机本体32的中轴线为中心呈三角形分布，螺旋桨d则套装于发动机本体32的输出轴上。
基于上述的变向装置的结构，本发明实施例还提供了一种垂直起降固定翼无人机，如图7和图8所示并同时结合图1至图6，它包括机身k和固定于机身k上并相对于机身k的长度方向(即：Z轴方向)呈对称分布的两个机翼m，在每个机翼m上均装设有垂直动力螺旋桨，在机身k的尾端则装设有一上述的一种螺旋桨双轴矢量伺服变向装置；其中，垂直动力螺旋桨包括沿Z轴方向固定于机翼m的前端侧的悬梁40、装设于悬梁40的前端的固定座41、沿Y轴方向座设于固定座41上的升降马达42(其输出轴可采用沿Y轴方向向上进行布置的形式，也可采用沿Y轴方向向下进行布置的形式)以及装设于升降马达42的输出轴上并以升降马达42的中心轴为转轴在X-Z轴平面内作旋转运动的升降螺旋桨43。由此，可利用垂直动力螺旋桨所提供的垂直方向的动力(即Y轴方向)来实现无人机的起降，无需为固定翼无人机设置专门的跑道，使得其能够在任何环境场所内均能够进行起降，在此过程中可关闭变向装置；当飞机在空中飞行过程中，利用空气浮力以及变向装置所产生的多方向的推力，可保持飞机具有足够的水平飞行动力，并实现飞机的转向以及飞行姿态的变换等等，在此过程中可关闭垂直动力螺旋桨；而无人机在空中悬停时则可启动垂直动力螺旋桨并关闭变向装置。基于此，不但可实现固定翼无人机的垂直起降、空中悬停以及飞行姿态调整等功能；而且通过对垂直 动力螺旋桨和变向装置变换启闭控制，有效地节省了无人机的能量损耗，有利于延长无人机的续航时间，并减小无人机的任务载荷。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (10)

  1. 一种螺旋桨双轴矢量伺服变向装置，其特征在于：它包括固定地装设于无人机的尾端上的固定舵机、轴连于固定舵机上的转动舵机、轴连于转动舵机上的螺旋桨发动机以及套装于螺旋桨发动机的输出轴上的螺旋桨；所述固定舵机驱动转动舵机相对于固定舵机在Y-Z轴平面内作上下旋转运动，所述转动舵机驱动螺旋桨发动机相对于转动舵机在上X-Y轴平面内作左右旋转运动，所述螺旋桨发动机驱动螺旋桨以螺旋桨发动机的中心轴为中轴线作旋转运动。
  2. 如权利要求1所述的一种螺旋桨双轴矢量伺服变向装置，其特征在于：所述固定舵机包括固定地装设于无人机的尾端上的第一舵机基座和固定地装设于第一舵机基座上的第一矢量马达，所述第一矢量马达的输出轴沿X轴方向布置，且第一矢量马达的输出轴的中心线位于第一舵机基座的中部区域内；
    所述转动舵机的底面上且沿X轴方向对称地设置有两个第一旋臂，两个所述第一旋臂的末端均轴连于第一舵机基座下部区域内且分别位于第一矢量马达的左侧和右侧，所述第一矢量马达的输出轴上套接有第一主动摆臂，所述转动舵机的中部区域轴连有第一衔接摆臂，所述第一主动摆臂的头端与第一衔接摆臂的末端相轴连；
    所述第一矢量马达通过第一主动摆臂和第一衔接摆臂驱动转动舵机以两个第一旋臂的末端之间的连接线为旋转轴线在Y-Z轴平面内相对于第一舵机基座作由上至下或由下至上的旋转运动。
  3. 如权利要求2所述的一种螺旋桨双轴矢量伺服变向装置，其特征在于：所述第一舵机基座沿X轴方向的截面形状为“U”形，所述第一矢量马达固定地装设于第一舵机基座的底板上，两个所述第一旋臂位于第一舵机基座的两个相对侧板之间且每个所述第一旋臂均通过一枢转轴与对应的第一舵机基座的侧板相连。
  4. 如权利要求3所述的一种螺旋桨双轴矢量伺服变向装置，其特征在于：所述第一主动摆臂的套孔内壁上环周且均匀地设置有若干条防滑齿条。
  5. 如权利要求2所述的一种螺旋桨双轴矢量伺服变向装置，其特征在于：所述第一主动摆臂的头端形成有两个相对分布的第一轴板，所述第一衔接摆臂的末端夹持于两个第一轴板之间并通过一连接轴与第一轴板相连。
  6. 如权利要求2所述的一种螺旋桨双轴矢量伺服变向装置，其特征在于：所述转动舵机包括第二舵机基座和固定地装设于第二舵机基座的底面上的第二矢量马达，两个所述第一旋臂由第二舵机基座的底面的左右两侧朝第一舵机基座的方向作延伸后成型，所述第二矢量马达的输出轴沿Y轴方向布置，所述第二舵机基座的下部区域且沿X轴方向开设有一限位条口，所述第二矢量马达的输出轴位于限位条口的中部区域内；
    所述螺旋桨发动机的底面上且位于限位条口的上下两侧对称地设置有两个第二旋臂，所述第二舵机基座的顶面上且与每个第二旋臂相对应的位置均形成有一与对应的第二旋臂相轴连的支撑臂，所述第二矢量马达的输出轴上套接有第二主动摆臂，所述螺旋桨发动机的偏心区域轴连有第二衔接摆臂，所述第二主动摆臂的头端与第二衔接摆臂的末端相轴连；
    所述第二矢量马达通过第二主动摆臂和第二衔接摆臂驱动螺旋桨发动机以两个第二旋臂的末端之间的连接线为旋转轴线在X-Y平面内相对于第二舵机基座作由左至右或由右至左的旋转运动。
  7. 如权利要求6所述的一种螺旋桨双轴矢量伺服变向装置，其特征在于：所述第二主动摆臂的套孔内壁上环周且均匀地设置有若干条防滑齿条。
  8. 如权利要求6所述的一种螺旋桨双轴矢量伺服变向装置，其特征在于：所述第二主动摆臂的头端形成有两个相对分布的第二轴板，所述第二衔接摆臂的末端夹持于两个第二轴板之间并通过一连接轴与第二轴板相连。
  9. 如权利要求6所述的一种螺旋桨双轴矢量伺服变向装置，其特征在于：所述螺旋桨发动机包括发动机本体以及固定地装设于发动机本体的底面上的 发动机基座，两个所述第二旋臂均形成于发动机基座的底面上，且所述发动机基座的底面上还对称地设置有两个用于夹持第二衔接摆臂的头端并与第二衔接摆臂的头端相轴连的第二轴板，两个所述第二轴板与两个第二旋臂以发动机本体的中轴线为中心呈三角形分布，所述螺旋桨套装于发动机本体的输出轴上。
  10. 一种垂直起降固定翼无人机，它包括机身和固定于机身上并相对于机身的长度方向呈对称分布的两个机翼，其特征在于：每个所述机翼上均装设有垂直动力螺旋桨，所述机身的尾端装设有一如权利要求1-9中任一项所述的一种螺旋桨双轴矢量伺服变向装置；
    所述垂直动力螺旋桨包括沿Z轴方向固定于机翼的前端侧的悬梁、装设于悬梁的前端的固定座、沿Y轴方向座设于固定座上的升降马达以及装设于升降马达的输出轴上并以升降马达的中心轴为转轴在X-Z轴平面内作旋转运动的升降螺旋桨。
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