WO2019080179A1 - Takeoff method for fixed-wing unmanned aerial vehicle - Google Patents

Takeoff method for fixed-wing unmanned aerial vehicle

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Publication number
WO2019080179A1
WO2019080179A1 PCT/CN2017/110238 CN2017110238W WO2019080179A1 WO 2019080179 A1 WO2019080179 A1 WO 2019080179A1 CN 2017110238 W CN2017110238 W CN 2017110238W WO 2019080179 A1 WO2019080179 A1 WO 2019080179A1
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WO
WIPO (PCT)
Prior art keywords
fixed
wing
machine
rod
axis aircraft
Prior art date
Application number
PCT/CN2017/110238
Other languages
French (fr)
Chinese (zh)
Inventor
罗伟
Original Assignee
罗伟
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 罗伟 filed Critical 罗伟
Publication of WO2019080179A1 publication Critical patent/WO2019080179A1/en

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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
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/60—UAVs characterised by the material
    • B64U20/65—Composite materials

Definitions

  • the invention relates to the technical field of aircrafts, and in particular to a method for taking off a fixed-wing UAV.
  • a drone is a non-manned aircraft that is controlled by a wireless remote control device and its own control device, such as an unmanned helicopter, a fixed-wing drone, an unmanned wing aircraft, and the like.
  • a wireless remote control device such as an unmanned helicopter, a fixed-wing drone, an unmanned wing aircraft, and the like.
  • drones have been widely used in aerial photography, power inspection, environmental monitoring, forest fire prevention, disaster inspection, anti-terrorism rescue, military reconnaissance, battlefield assessment and other fields.
  • the fixed-wing UAV wing that can be vertically taken off and landing is a composite flying-wing UAV that combines multi-axis and fixed-wing.
  • this type of multi-rotor does not work after the take-off, the fixed wing
  • the drone is equivalent to flying with extra multi-rotor, which seriously affects the life time and flight attitude.
  • the present invention adopts the following technical solutions:
  • a take-off method for a fixed-wing UAV includes the following steps:
  • the multi-axis aircraft drives the fixed wing sub-machine to maintain the hovering state after being lifted by the drone release mechanism;
  • the airspeed of the fixed fender reaches the take-off speed, and the latch shaft of the release mechanism drives the latch lever to exit the card slot, thereby realizing the separation of the fixed fender and the multi-axis aircraft.
  • the fixed fender that reaches the take-off speed can enter the cruising state while removing the weight of the multi-axis aircraft, thereby realizing the vertical take-off of the fixed wing, and removing the multi-axis aircraft type, the flight attitude is stable, and the cruising time is long.
  • step S 1 is off height of 250m.
  • the lift height of 250m guarantees the reserved time for the fixed wing submachine to accelerate to the cruise state, preventing the altitude from being too low and dropping the bottom surface.
  • the drone release mechanism includes: the steering gear: the steering gear includes an output shaft; the steering wheel: one end of the steering wheel is fixedly connected to the output shaft; the transmission rod: one end of the connecting rod and the other end of the steering wheel are hinged to the pin: the pin One end is hinged to the other end of the connecting rod; the mounting block: the mounting block is fixedly mounted on the steering gear, the central part of the mounting block is provided with a card slot, the mounting block has a through hole in a lateral direction, and the other end of the latching rod extends through the through hole into the card slot, The inner wall of the card slot away from the side of the steering wheel abuts against the other end of the latch rod, and the steering gear can drive the latch rod to reciprocate in the through hole.
  • the drone release mechanism provided by the invention drives the output shaft through the steering gear, and the output shaft drives the steering wheel to drive the latch rod disposed in the slot of the mounting block, and the latch rod is in the through hole
  • the multi-motion controls the fixing and releasing of the fixed-wing UAV and the UAV release structure, so that the UAV avoids excess load during flight and prolongs the life of the fixed-wing UAV Time to ensure the stability of the fixed-wing UAV flight attitude.
  • the shape of the through hole matches the shape of the pin.
  • the shape of the through hole cooperates with the shape of the pin to avoid the sway of the pin in the through hole during flight, thereby affecting the flight state of the fixed wing drone.
  • the invention also provides a fixed-wing UAV, comprising the UAV release mechanism mentioned in the present invention; further comprising a multi-axis aircraft, a fixed fender and a connecting rod, one end of the connecting rod is connected with the fixed fender, and even The other end of the rod is provided with a hanging loop; the steering wheel is fixedly connected with the multi-axis aircraft, and the hanging ring is located in the card slot and sleeved on the latch rod.
  • the multi-axis aircraft and the fixed wing machine are connected by a drone release mechanism.
  • the fixed wing machine passes through the hanging ring provided on the connecting rod, and is hooked on the latch rod in the card slot, and can be flexibly and quickly controlled by controlling the rotation of the steering gear. Realize the switching between the fixed and the release between the multi-axis aircraft and the fixed wing sub-machine, realize the separation of the multi-axis aircraft and the fixed wing sub-machine in flight, so as to avoid the cruising of the fixed-wing sub-machine carrying the multi-axis aircraft, affecting the battery life Time and flying attitude of the fixed wing.
  • the utility model further comprises a fixing ring and a carbon fiber sleeve, wherein the fixing ring is fixedly mounted on one end of the connecting rod, the carbon fiber sleeve is symmetrically arranged on the fixed wing machine, and the axis of the carbon fiber sleeve is perpendicular to the axis of symmetry of the fixed wing machine, and the inner wall of the fixing ring is fixed Connected to the outer wall of the carbon fiber casing.
  • the carbon fiber sleeve disposed on the fixed wing machine is sleeved on the fixing ring connected to the connecting rod, and is fixed and stable, and is not easy to sway, thereby affecting the flying attitude of the fixed-wing drone.
  • the carbon fiber casing is light in weight and has a tubular structure, which reduces the unnecessary load, and the connecting surface of the fixing ring and the casing is large, the bearing capacity of the joint is strong, and the connection is reliable and stable.
  • the center of the junction of the carbon fiber sleeve and the retaining ring coincides with the center of gravity of the fixed fender.
  • the center of the joint between the carbon fiber sleeve and the fixing ring coincides with the center of the fixed wing machine, and the connecting surface is equal in gravity in all directions from the fixed-wing drone to ensure the flying attitude of the drone; through the connecting rod and the hanging ring And when the fixed-wing UAV and the multi-axis aircraft are connected in flight, the two are in the same vertical direction to ensure the vertical take-off of the fixed-wing UAV.
  • the drone release mechanism provided by the invention drives the output shaft through the steering gear, and the output shaft drives the steering wheel to drive the bolt rod disposed in the card slot of the mounting block, and the bolt rod reciprocates in the through hole, and passes through the control
  • the reversal of the steering gear controls the fixing and release of the fixed-wing UAV and the UAV release structure, thereby avoiding unnecessary load during flight, extending the life of the fixed-wing UAV, and ensuring the fixed-wing UAV
  • the flight attitude is stable.
  • the UAV release mechanism provided by the present invention has the shape of the through hole matched with the shape of the pin to avoid the sway of the pin in the through hole during flight, thereby affecting the flight state of the fixed wing UAV.
  • the fixed-wing UAV provided by the present invention, the multi-axis aircraft and the fixed fender are connected by a drone release mechanism, and the fixed fender passes the hanging ring provided on the connecting rod, and the pin hanging in the card slot
  • the rod can be flexibly and quickly switched between fixing and releasing between the multi-axis aircraft and the fixed wing machine, and the multi-axis aircraft can be realized in flight. Separation from the fixed wing machine, so as to avoid the weight of the fixed wing machine carrying the multi-axis aircraft for cruising, affecting the endurance time and the attitude of the fixed wing.
  • the fixed-wing UAV provided by the invention is fixed on the fixing ring connected to the connecting rod through the carbon fiber sleeve disposed on the fixed wing machine, and is stable and stable, and is not easy to sway, thereby affecting the fixed-wing UAV
  • the carbon fiber casing is light in weight and has a tubular structure, which reduces the unnecessary load.
  • the connecting surface of the fixing ring and the casing is large, the bearing capacity of the joint is strong, and the connection is reliable and stable.
  • the center of the connection between the carbon fiber sleeve and the fixing ring coincides with the center of the fixed wing sub-machine, and the connecting surface is equal in gravity in all directions from the fixed-wing UAV, ensuring The flight attitude of the drone; when the fixed-wing UAV and the multi-axis aircraft connected by the connecting rod and the hanging ring and the release structure are flying, the two are in the same vertical direction to ensure the vertical take-off of the fixed-wing UAV.
  • the vertical take-off method of the fixed-wing UAV provided by the present invention is driven by a multi-axis aircraft, and after the fixed fender is lifted off, directly accelerates or accelerates by gravity, and the latch shaft of the release mechanism drives the latch rod to exit the card slot.
  • the separation of the fixed fender and the multi-axis aircraft is realized, and the fixed fender that achieves the take-off speed removes the weight of the multi-axis aircraft, that is, realizes the vertical take-off of the fixed wing, and removes the multi-axis aircraft type while flying
  • the attitude is stable and the cruising time is long.
  • the rising height is preset to ensure that the fixed-wing UAV enters the cruising flight.
  • FIG. 1 is a schematic structural view of a drone release mechanism of Embodiment 1;
  • FIG. 2 is a schematic structural view of a fixed wing sub-machine of Embodiment 2;
  • FIG. 3 is a schematic view showing the connection structure of the fixing ring and the carbon fiber sleeve of Embodiment 3;
  • the embodiment provides a drone release mechanism, including: a steering gear 101: a steering gear 101 includes an output shaft; a steering wheel 102: one end of the steering wheel 102 is fixedly coupled to the output shaft; and the transmission rod 20: One end of the rod 60 and the other end of the steering wheel 102 are hinged to the latching rod 30: one end of the latching rod 30 is hinged to the other end of the connecting rod; the mounting block 40: the mounting block 40 is fixedly mounted to the steering gear 101, and a clamping slot 401 is arranged in the middle of the mounting block 40.
  • a through hole 402 is defined in the lateral direction of the block 40.
  • the other end of the latching rod 30 extends through the through hole 402 and extends into the slot 401.
  • the inner wall of the slot 401 away from the steering wheel 102 is opposite to the other end of the latching lever 30, and the steering gear 101 can be
  • the drive pin 30 is reciprocated within the through hole 402.
  • the output shaft is driven by the steering gear 101, and the output shaft drives the steering wheel 102 to drive the latch lever 30 provided in the slot 401 of the mounting block 40.
  • the latch lever 30 reciprocates in the through hole 402, and the positive control servo 101 is controlled. Reverse, thus controlling the fixed and release of the fixed-wing UAV and UAV release structure, so that the UAV avoids excess load during flight, prolongs the life of the fixed-wing UAV, and ensures the fixed-wing UAV flight Stable posture.
  • the shape of the through hole 402 is matched with the shape of the latch lever 30.
  • the shape of the through hole 402 cooperates with the shape of the latching rod 30 to prevent the latching rod 30 from swaying in the through hole 402 during flight, thereby affecting the flight state of the fixed wing drone.
  • the embodiment provides a fixed-wing UAV, including the embodiment 1
  • the drone release mechanism further includes a multi-axis aircraft, a fixed fender 50 and a connecting rod 60.
  • One end of the connecting rod 60 is connected to the fixed fender 50, and the other end of the connecting rod 60 is provided with a hanging loop 70;
  • the axle aircraft is fixedly connected, and the hanging ring 70 is located in the slot 401 and sleeved on the latching rod 30.
  • the multi-axis aircraft and the fixed fenders 50 are connected by a drone release mechanism, and the fixed fenders 50 are hung by the pegs 70 provided on the connecting rods 60, and are hooked to the latching rods 30 in the card slots 401, and the steering gears 101 are controlled.
  • the rotation can flexibly and quickly realize the switching between the fixed and the release of the multi-axis aircraft and the fixed fender 50, and realize the separation of the multi-axis aircraft and the fixed fender 50 in flight, thereby avoiding the bearing of the fixed fender 50.
  • the weight of the multi-axis aircraft is cruising, affecting the endurance time and the attitude of the fixed wing.
  • the embodiment provides a fixed-wing UAV, including the UAV release mechanism of Embodiment 1, and a multi-axis aircraft, a fixed fender 50, and a connecting rod 60.
  • the fixed wing sub-machine 50 is connected, and the other end of the connecting rod 60 is provided with a hanging ring 70;
  • the steering wheel 102 is fixedly connected with the multi-axis aircraft, the hanging ring 70 is located in the card slot 401 and sleeved on the latching rod 30;
  • the carbon fiber sleeve 90 is fixedly mounted on one end of the connecting rod 60, and the carbon fiber sleeve 90 is symmetrically disposed on the fixed fender 50.
  • the axis of the carbon fiber sleeve 90 is perpendicular to the axis of symmetry of the fixed fender 50, and the inner wall of the fixing ring 80 is fixed. It is connected to the outer wall of the carbon fiber sleeve 90.
  • the carbon fiber sleeve 90 disposed on the fixed fender 50 is sleeved on the fixing ring 80 connected to the connecting rod 60, and is fixed and stable, and is less likely to sway, thereby affecting the fixed wing drone.
  • the carbon fiber sleeve 90 is light in weight and has a tubular structure, which reduces the unnecessary load, and the connecting surface of the fixing ring 80 and the sleeve is large, the joint bearing capacity is strong, and the connection is reliable and stable.
  • the embodiment provides a fixed-wing UAV, including the UAV release mechanism of Embodiment 1 of the present invention; further comprising a multi-axis aircraft, a fixed fender 50 and a connecting rod 60, and one end of the connecting rod 60 and the fixed fender 50 is connected, the other end of the connecting rod 60 is provided with a hanging ring 70; the steering wheel 102 is fixedly connected with the multi-axis aircraft, the hanging ring 70 is located in the card slot 401 and sleeved on the latching rod 30; and further comprises a fixing ring 80 and a carbon fiber sleeve 90
  • the fixing ring 80 is fixedly mounted on one end of the connecting rod 60, and the carbon fiber sleeve 90 is symmetrically disposed on the fixed fender 50.
  • the axis of the carbon fiber sleeve 90 is perpendicular to the axis of symmetry of the fixed fender 50, and the inner wall of the fixing ring 80 and the carbon fiber sleeve The outer wall of the 90 is connected; the center of the junction of the carbon fiber sleeve 90 and the retaining ring 80 coincides with the center of gravity of the fixed fender 50.
  • the center of the joint of the carbon fiber sleeve 90 and the fixed ring 80 coincides with the center of the fixed wing machine 50, and the joint faces are equal in magnitude in all directions from the fixed-wing drone to ensure the flight attitude of the drone; 60
  • the two are in the same vertical direction to ensure the vertical take-off of the fixed-wing UAV.
  • the embodiment provides a method for taking off a fixed-wing UAV, including the fixed-wing UAV of Embodiment 2.
  • the vertical take-off method of the fixed-wing UAV includes the following steps:
  • the multi-axis aircraft passes the drone release mechanism to drive the fixed wing sub-machine 50 to stand up to 200 m and then maintain the hover state;
  • the fixed fender 50 After the multi-axis aircraft is driven, after the fixed fender 50 is lifted off, the airspeed of the fixed fender 50 reaches the take-off speed, and the latching lever 30 is driven by the steering wheel 102 of the release mechanism to exit the card slot 401, thereby realizing the fixed fender 50 and The separation of the multi-axis aircraft, the fixed fender 50 that reaches the take-off speed can enter the cruising state while unloading the weight of the multi-axis aircraft, thereby realizing the vertical take-off of the fixed wing and unloading the multi-axis aircraft type while flying The posture is stable and the cruising time is long.
  • the lift-off height is 200m, ensuring that the multi-axis aircraft is separated from the fixed wing sub-machine 50, the multi-axis aircraft is easy to land to the starting point, and the other 200m height ensures the fixed time of the fixed-wing sub-machine 50 switching to the cruise state, preventing the altitude from being too low. , drop the bottom.
  • the embodiment provides a method for taking off a fixed-wing UAV, including the fixed-wing UAV of Embodiment 3.
  • the vertical take-off method of the fixed-wing UAV includes the following steps:
  • the multi-axis aircraft passes the drone release mechanism to drive the fixed wing sub-machine to maintain a hover state after lifting 250 m;
  • the reel 102 of the release mechanism drives the latch lever 30 to exit the slot 401, thereby realizing the separation of the fixed fender 50 from the multi-axis aircraft, and the fixed wing of the submerged dive.
  • the sub-machine 50 accelerates to reach the take-off speed by gravity, and then switches to the cruising state, thereby realizing the vertical take-off of the fixed wing, and unloading the multi-axis aircraft type, the flight attitude is stable, the cruising time is long, and the gravity is accelerated to reduce the energy consumption. Extend battery life.
  • the lift height of 250m ensures the reserved time for the fixed wing sub-machine 50 to accelerate to the cruise state, preventing the altitude from being too low and dropping the bottom surface.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Composite Materials (AREA)
  • Materials Engineering (AREA)
  • Toys (AREA)
  • Transmission Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

An unmanned aerial vehicle release mechanism, comprising: a servo motor (101), the servo motor (101) comprising an output shaft; a servo plate (102), one end of the servo plate (102) being fixedly connected to the output shaft; a transmission rod (20), one end of the transmission rod (20) being hingedly connected to the other end of the servo plate (102); a latch rod (30), one end of the latch rod (30) being hingedly connected to the other end of the transmission rod (20); and an installation block (40), the installation block (40) being fixedly installed on the servo motor (101), a groove (401) being provided in the middle of the installation block (40), a through hole (402) being provided along a horizontal direction of the installation block (40), the other end of the latch rod (30) passing through the through hole (402) and extending into the groove (401), the inner wall of the side of the groove (401) against the servo plate (102) abutting against the other end of the latch rod (30), and the servo motor (101) being capable of driving the latch rod (30) to move reciprocately in the through hole (402).

Description

一种固定翼无人机的起飞方法Take-off method of fixed-wing UAV 技术领域Technical field
本发明涉及飞行器技术领域，具体涉及一种固定翼无人机的起飞方法。The invention relates to the technical field of aircrafts, and in particular to a method for taking off a fixed-wing UAV.
背景技术Background technique
无人机是指利用无线遥控设备和自身的控制装置进行控制的不载人飞行器，例如无人直升机、固定翼无人机、无人伞翼机等。近十几年来，无人机已被广泛应用于航拍摄影、电力巡检、环境监测、森林防火、灾情巡查、防恐救生、军事侦察、战场评估等领域。A drone is a non-manned aircraft that is controlled by a wireless remote control device and its own control device, such as an unmanned helicopter, a fixed-wing drone, an unmanned wing aircraft, and the like. In the past ten years, drones have been widely used in aerial photography, power inspection, environmental monitoring, forest fire prevention, disaster inspection, anti-terrorism rescue, military reconnaissance, battlefield assessment and other fields.
目前常见的能够垂直起降的固定翼无人机翼板是将多轴与固定翼复合为一体的复合飞行翼无人机，但是这种类型的多旋翼完成起飞之后机不再工作，固定翼无人机相当于带着多余的多旋翼进行飞行，严重影响续航时间及飞行姿态。At present, the fixed-wing UAV wing that can be vertically taken off and landing is a composite flying-wing UAV that combines multi-axis and fixed-wing. However, this type of multi-rotor does not work after the take-off, the fixed wing The drone is equivalent to flying with extra multi-rotor, which seriously affects the life time and flight attitude.
亟需一种飞行稳定、续航时间长的的固定翼无人机。There is a need for a fixed-wing drone with stable flight and long battery life.
发明内容Summary of the invention
为实现上述目的，本发明采用如下技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种固定翼无人机的起飞方法，包括以下步骤：A take-off method for a fixed-wing UAV includes the following steps:
S1：多轴飞行器通过无人机释放机构带动固定翼子机升空后保持悬停状态；S1: The multi-axis aircraft drives the fixed wing sub-machine to maintain the hovering state after being lifted by the drone release mechanism;
S2：舵机驱动插销杆退出卡槽，挂环从插销杆脱出；S2: the servo drive latch pin exits the card slot, and the hanging ring is released from the latch lever;
S3：固定翼子机离开多轴飞行器，控制器控制固定翼子机低头俯冲加速； S3: the fixed wing sub-machine leaves the multi-axis aircraft, and the controller controls the fixed wing sub-machine to subduct and accelerate;
S4：固定翼子机离开多轴飞行器，进入巡航状态。S4: The fixed wing sub-machine leaves the multi-axis aircraft and enters the cruise state.
多轴飞行器带动，固定翼子机升空之后，固定翼子机的空速达到起飞速度，通过释放机构的舵盘驱动插销杆退出卡槽，从而实现固定翼子机与多轴飞行器的分离，达到起飞速度的固定翼子机在卸去多轴飞行器重量的同时，即可进入巡航状态，从而实现固定翼的垂直起飞，且卸去多轴飞行器种类的同时，飞行姿态稳定，巡航时间长。After the multi-axis aircraft is driven, after the fixed fender is lifted off, the airspeed of the fixed fender reaches the take-off speed, and the latch shaft of the release mechanism drives the latch lever to exit the card slot, thereby realizing the separation of the fixed fender and the multi-axis aircraft. The fixed fender that reaches the take-off speed can enter the cruising state while removing the weight of the multi-axis aircraft, thereby realizing the vertical take-off of the fixed wing, and removing the multi-axis aircraft type, the flight attitude is stable, and the cruising time is long.
多轴飞行器带动，固定翼子机升空之后，固通过释放机构的舵盘驱动插销杆退出卡槽，从而实现固定翼子机与多轴飞行器的分离，低头俯冲的固定翼子机通过重力加速达到起飞速度，再切换至巡航状态，从而实现固定翼的垂直起飞，且卸去多轴飞行器种类的同时，飞行姿态稳定，巡航时间长，利用重力加速，减少能耗，延长续航时间。步骤S1中升空的高度为250m。Driven by the multi-axis aircraft, after the fixed wing sub-machine is lifted off, the rudder disc of the release mechanism drives the latch rod to exit the card slot, thereby realizing the separation of the fixed wing sub-machine from the multi-axis aircraft, and the fixed-wing sub-machine with the low head dive is accelerated by gravity. The take-off speed is reached, and then the cruise state is switched to realize the vertical take-off of the fixed wing, and the multi-axis aircraft type is removed, the flight attitude is stable, the cruise time is long, the gravity is accelerated, the energy consumption is reduced, and the battery life is prolonged. In step S 1 is off height of 250m.
250m的升空高度保证固定翼子机俯冲加速至巡航状态的预留时间，防止高度过低，掉落底面。The lift height of 250m guarantees the reserved time for the fixed wing submachine to accelerate to the cruise state, preventing the altitude from being too low and dropping the bottom surface.
本发明中，无人机释放机构，包括，舵机：舵机包括输出轴；舵盘：舵盘一端固定连接于输出轴；传动杆：连杆一端与舵盘另一端铰接插销杆：插销杆一端与连接杆另一端铰接；安装块：安装块固定安装于舵机，安装块中部设有卡槽，安装块的横向方向设有通孔，插销杆另一端贯穿通孔延伸至卡槽内，卡槽远离舵盘一侧的内壁与插销杆另一端相抵，舵机可驱动插销杆于通孔内往复运动。In the present invention, the drone release mechanism includes: the steering gear: the steering gear includes an output shaft; the steering wheel: one end of the steering wheel is fixedly connected to the output shaft; the transmission rod: one end of the connecting rod and the other end of the steering wheel are hinged to the pin: the pin One end is hinged to the other end of the connecting rod; the mounting block: the mounting block is fixedly mounted on the steering gear, the central part of the mounting block is provided with a card slot, the mounting block has a through hole in a lateral direction, and the other end of the latching rod extends through the through hole into the card slot, The inner wall of the card slot away from the side of the steering wheel abuts against the other end of the latch rod, and the steering gear can drive the latch rod to reciprocate in the through hole.
本发明提供的无人机释放机构，通过舵机驱动输出轴，输出轴带动舵盘，从而驱动设于安装块的卡槽中的插销杆，插销杆于通孔内往 复运动，通过控制舵机的正反转，从而控制固定翼无人机与无人机释放结构的固定与释放，使无人机在飞行中避免多余的负重，延长固定翼无人机的续航时间，保证固定翼无人机飞行姿态的稳定。The drone release mechanism provided by the invention drives the output shaft through the steering gear, and the output shaft drives the steering wheel to drive the latch rod disposed in the slot of the mounting block, and the latch rod is in the through hole The multi-motion, by controlling the forward and reverse of the steering gear, controls the fixing and releasing of the fixed-wing UAV and the UAV release structure, so that the UAV avoids excess load during flight and prolongs the life of the fixed-wing UAV Time to ensure the stability of the fixed-wing UAV flight attitude.
进一步地，通孔的形状与插销杆的形状配合。Further, the shape of the through hole matches the shape of the pin.
通孔的形状与插销杆的形状配合，避免飞行时插销杆在通孔内发生晃动，从而影响固定翼无人机的飞行状态。The shape of the through hole cooperates with the shape of the pin to avoid the sway of the pin in the through hole during flight, thereby affecting the flight state of the fixed wing drone.
本发明还提供一种固定翼无人机，包括本发明所提及的无人机释放机构；还包括多轴飞行器、固定翼子机和连杆，连杆一端与固定翼子机连接，连杆另一端设有挂环；舵盘与多轴飞行器固定连接，挂环位于卡槽内并套设于插销杆。The invention also provides a fixed-wing UAV, comprising the UAV release mechanism mentioned in the present invention; further comprising a multi-axis aircraft, a fixed fender and a connecting rod, one end of the connecting rod is connected with the fixed fender, and even The other end of the rod is provided with a hanging loop; the steering wheel is fixedly connected with the multi-axis aircraft, and the hanging ring is located in the card slot and sleeved on the latch rod.
多轴飞行器与固定翼子机结构均为现有技术。Both the multi-axis aircraft and the fixed wing sub-machine structure are prior art.
多轴飞行器与固定翼子机间通过无人机释放机构连接，固定翼子机通过连杆上设置的挂环，挂于卡槽内的插销杆，通过控制舵机的旋转，即可灵活快速地实现多轴飞行器与固定翼子机间的固定与释放的切换，在飞行中实现多轴飞行器与固定翼子机的分离，从而避免固定翼子机承载多轴飞行器的重量进行巡航，影响续航时间与固定翼的飞行姿态。The multi-axis aircraft and the fixed wing machine are connected by a drone release mechanism. The fixed wing machine passes through the hanging ring provided on the connecting rod, and is hooked on the latch rod in the card slot, and can be flexibly and quickly controlled by controlling the rotation of the steering gear. Realize the switching between the fixed and the release between the multi-axis aircraft and the fixed wing sub-machine, realize the separation of the multi-axis aircraft and the fixed wing sub-machine in flight, so as to avoid the cruising of the fixed-wing sub-machine carrying the multi-axis aircraft, affecting the battery life Time and flying attitude of the fixed wing.
进一步地，还包括固定环和碳纤维套管，固定环固定安装于连杆一端，碳纤维套管对称设于固定翼子机，碳纤维套管的轴线与固定翼子机的对称轴垂直，固定环内壁与碳纤维套管外壁连接。Further, the utility model further comprises a fixing ring and a carbon fiber sleeve, wherein the fixing ring is fixedly mounted on one end of the connecting rod, the carbon fiber sleeve is symmetrically arranged on the fixed wing machine, and the axis of the carbon fiber sleeve is perpendicular to the axis of symmetry of the fixed wing machine, and the inner wall of the fixing ring is fixed Connected to the outer wall of the carbon fiber casing.
通过设置于固定翼子机的碳纤维套管套设于连接在连杆的固定环，固定稳定，不易发生晃动，从而影响固定翼无人机的飞行姿态， 另外，碳纤维套管质量较轻，且为管状结构，减少无谓负重的同时，固定环与套管连接面大，结合处承载力强，连接可靠稳定。The carbon fiber sleeve disposed on the fixed wing machine is sleeved on the fixing ring connected to the connecting rod, and is fixed and stable, and is not easy to sway, thereby affecting the flying attitude of the fixed-wing drone. In addition, the carbon fiber casing is light in weight and has a tubular structure, which reduces the unnecessary load, and the connecting surface of the fixing ring and the casing is large, the bearing capacity of the joint is strong, and the connection is reliable and stable.
进一步地，碳纤维套管与固定环连接处的中心与固定翼子机的重心重合。Further, the center of the junction of the carbon fiber sleeve and the retaining ring coincides with the center of gravity of the fixed fender.
碳纤维套管与固定环连接处的中心与固定翼子机的中心重合，连接面在所有方向受到来自固定翼无人机的重力大小相等，保证无人机的飞行姿态；通过连杆与挂环以及释放结构连接的固定翼无人机与多轴飞行器飞行时，两者处于同一铅垂方向上，保证固定翼无人机的垂直起飞。The center of the joint between the carbon fiber sleeve and the fixing ring coincides with the center of the fixed wing machine, and the connecting surface is equal in gravity in all directions from the fixed-wing drone to ensure the flying attitude of the drone; through the connecting rod and the hanging ring And when the fixed-wing UAV and the multi-axis aircraft are connected in flight, the two are in the same vertical direction to ensure the vertical take-off of the fixed-wing UAV.
本发明的有益效果：The beneficial effects of the invention:
1.本发明提供的无人机释放机构，通过舵机驱动输出轴，输出轴带动舵盘，从而驱动设于安装块的卡槽中的插销杆，插销杆于通孔内往复运动，通过控制舵机的正反转，从而控制固定翼无人机与无人机释放结构的固定与释放，从而在飞行中避免多余的负重，延长固定翼无人机的续航时间，保证固定翼无人机飞行姿态的稳定。1. The drone release mechanism provided by the invention drives the output shaft through the steering gear, and the output shaft drives the steering wheel to drive the bolt rod disposed in the card slot of the mounting block, and the bolt rod reciprocates in the through hole, and passes through the control The reversal of the steering gear controls the fixing and release of the fixed-wing UAV and the UAV release structure, thereby avoiding unnecessary load during flight, extending the life of the fixed-wing UAV, and ensuring the fixed-wing UAV The flight attitude is stable.
2.本发明提供的无人机释放机构，通孔的形状与插销杆的形状配合，避免飞行时插销杆在通孔内发生晃动，从而影响固定翼无人机的飞行状态。2. The UAV release mechanism provided by the present invention has the shape of the through hole matched with the shape of the pin to avoid the sway of the pin in the through hole during flight, thereby affecting the flight state of the fixed wing UAV.
3.本发明所提供的固定翼无人机，多轴飞行器与固定翼子机间通过无人机释放机构连接，固定翼子机通过连杆上设置的挂环，挂于卡槽内的插销杆，通过控制舵机的旋转，即可灵活快速地实现多轴飞行器与固定翼子机间的固定与释放的切换，在飞行中实现多轴飞行器 与固定翼子机的分离，从而避免固定翼子机承载多轴飞行器的重量进行巡航，影响续航时间与固定翼的飞行姿态。3. The fixed-wing UAV provided by the present invention, the multi-axis aircraft and the fixed fender are connected by a drone release mechanism, and the fixed fender passes the hanging ring provided on the connecting rod, and the pin hanging in the card slot By controlling the rotation of the steering gear, the rod can be flexibly and quickly switched between fixing and releasing between the multi-axis aircraft and the fixed wing machine, and the multi-axis aircraft can be realized in flight. Separation from the fixed wing machine, so as to avoid the weight of the fixed wing machine carrying the multi-axis aircraft for cruising, affecting the endurance time and the attitude of the fixed wing.
4.本发明所提供的固定翼无人机，通过设置于固定翼子机的碳纤维套管套设于连接在连杆的固定环，固定稳定，不易发生晃动，从而影响固定翼无人机的飞行姿态，另外，碳纤维套管质量较轻，且为管状结构，减少无谓负重的同时，固定环与套管连接面大，结合处承载力强，连接可靠稳定。4. The fixed-wing UAV provided by the invention is fixed on the fixing ring connected to the connecting rod through the carbon fiber sleeve disposed on the fixed wing machine, and is stable and stable, and is not easy to sway, thereby affecting the fixed-wing UAV In addition, the carbon fiber casing is light in weight and has a tubular structure, which reduces the unnecessary load. At the same time, the connecting surface of the fixing ring and the casing is large, the bearing capacity of the joint is strong, and the connection is reliable and stable.
5.本发明所提供的固定翼无人机，碳纤维套管与固定环连接处的中心与固定翼子机的中心重合，连接面在所有方向受到来自固定翼无人机的重力大小相等，保证无人机的飞行姿态；通过连杆与挂环以及释放结构连接的固定翼无人机与多轴飞行器飞行时，两者处于同一铅垂方向上，保证固定翼无人机的垂直起飞。5. The fixed-wing UAV provided by the present invention, the center of the connection between the carbon fiber sleeve and the fixing ring coincides with the center of the fixed wing sub-machine, and the connecting surface is equal in gravity in all directions from the fixed-wing UAV, ensuring The flight attitude of the drone; when the fixed-wing UAV and the multi-axis aircraft connected by the connecting rod and the hanging ring and the release structure are flying, the two are in the same vertical direction to ensure the vertical take-off of the fixed-wing UAV.
6.本发明所提供的固定翼无人机垂直起飞方法，多轴飞行器带动，固定翼子机升空之后，直接加速或者利用重力俯冲加速，通过释放机构的舵盘驱动插销杆退出卡槽，从而实现固定翼子机与多轴飞行器的分离，达到起飞速度的固定翼子机在卸去多轴飞行器重量的，即从而实现固定翼的垂直起飞，且卸去多轴飞行器种类的同时，飞行姿态稳定，巡航时间长，另外，还预设了上升高度，保证固定翼无人机进入巡航飞行。6. The vertical take-off method of the fixed-wing UAV provided by the present invention is driven by a multi-axis aircraft, and after the fixed fender is lifted off, directly accelerates or accelerates by gravity, and the latch shaft of the release mechanism drives the latch rod to exit the card slot. Thereby, the separation of the fixed fender and the multi-axis aircraft is realized, and the fixed fender that achieves the take-off speed removes the weight of the multi-axis aircraft, that is, realizes the vertical take-off of the fixed wing, and removes the multi-axis aircraft type while flying The attitude is stable and the cruising time is long. In addition, the rising height is preset to ensure that the fixed-wing UAV enters the cruising flight.
附图说明DRAWINGS
图1为实施例1的无人机释放机构结构示意图；1 is a schematic structural view of a drone release mechanism of Embodiment 1;
图2为实施例2的固定翼子机结构示意图；2 is a schematic structural view of a fixed wing sub-machine of Embodiment 2;
图3为实施例3的固定环与碳纤维套管连接结构示意图； 3 is a schematic view showing the connection structure of the fixing ring and the carbon fiber sleeve of Embodiment 3;
其中：101-舵机；102-舵盘；20-传动杆；30-插销杆；40-安装块；401-卡槽；402通孔；50-固定翼子机；60连杆；70挂环；80固定环；90-碳纤维套管。Where: 101-steering gear; 102-rudder disk; 20-transmission rod; 30-plug pin; 40-mounting block; 401-card slot; 402 through hole; 50-fixed wing sub-machine; 60-link; 70-ring 80 anchor ring; 90-carbon fiber sleeve.
实施例1Example 1
如图1所示，本实施例提供一种无人机释放机构，包括：舵机101：舵机101包括输出轴；舵盘102：舵盘102一端固定连接于输出轴；传动杆20：连杆60一端与舵盘102另一端铰接插销杆30：插销杆30一端与连接杆另一端铰接；安装块40：安装块40固定安装于舵机101，安装块40中部设有卡槽401，安装块40的横向方向设有通孔402，插销杆30另一端贯穿通孔402延伸至卡槽401内，卡槽401远离舵盘102一侧的内壁与插销杆30另一端相抵，舵机101可驱动插销杆30于通孔402内往复运动。As shown in FIG. 1 , the embodiment provides a drone release mechanism, including: a steering gear 101: a steering gear 101 includes an output shaft; a steering wheel 102: one end of the steering wheel 102 is fixedly coupled to the output shaft; and the transmission rod 20: One end of the rod 60 and the other end of the steering wheel 102 are hinged to the latching rod 30: one end of the latching rod 30 is hinged to the other end of the connecting rod; the mounting block 40: the mounting block 40 is fixedly mounted to the steering gear 101, and a clamping slot 401 is arranged in the middle of the mounting block 40. A through hole 402 is defined in the lateral direction of the block 40. The other end of the latching rod 30 extends through the through hole 402 and extends into the slot 401. The inner wall of the slot 401 away from the steering wheel 102 is opposite to the other end of the latching lever 30, and the steering gear 101 can be The drive pin 30 is reciprocated within the through hole 402.
通过舵机101驱动输出轴，输出轴带动舵盘102，从而驱动设于安装块40的卡槽401中的插销杆30，插销杆30于通孔402内往复运动，通过控制舵机101的正反转，从而控制固定翼无人机与无人机释放结构的固定与释放，使无人机在飞行中避免多余的负重，延长固定翼无人机的续航时间，保证固定翼无人机飞行姿态的稳定。The output shaft is driven by the steering gear 101, and the output shaft drives the steering wheel 102 to drive the latch lever 30 provided in the slot 401 of the mounting block 40. The latch lever 30 reciprocates in the through hole 402, and the positive control servo 101 is controlled. Reverse, thus controlling the fixed and release of the fixed-wing UAV and UAV release structure, so that the UAV avoids excess load during flight, prolongs the life of the fixed-wing UAV, and ensures the fixed-wing UAV flight Stable posture.
进一步地，通孔402的形状与插销杆30的形状配合。Further, the shape of the through hole 402 is matched with the shape of the latch lever 30.
通孔402的形状与插销杆30的形状配合，避免飞行时插销杆30在通孔402内发生晃动，从而影响固定翼无人机的飞行状态。The shape of the through hole 402 cooperates with the shape of the latching rod 30 to prevent the latching rod 30 from swaying in the through hole 402 during flight, thereby affecting the flight state of the fixed wing drone.
实施例2Example 2
如图2所示，本实施例提供一种固定翼无人机，包括实施例1的 无人机释放机构；还包括多轴飞行器、固定翼子机50和连杆60，连杆60一端与固定翼子机50连接，连杆60另一端设有挂环70；舵盘102与多轴飞行器固定连接，挂环70位于卡槽401内并套设于插销杆30。As shown in FIG. 2, the embodiment provides a fixed-wing UAV, including the embodiment 1 The drone release mechanism further includes a multi-axis aircraft, a fixed fender 50 and a connecting rod 60. One end of the connecting rod 60 is connected to the fixed fender 50, and the other end of the connecting rod 60 is provided with a hanging loop 70; The axle aircraft is fixedly connected, and the hanging ring 70 is located in the slot 401 and sleeved on the latching rod 30.
多轴飞行器与固定翼子机50结构均为现有技术。Both the multi-axis aircraft and the fixed wing sub-machine 50 are prior art.
多轴飞行器与固定翼子机50间通过无人机释放机构连接，固定翼子机50通过连杆60上设置的挂环70，挂于卡槽401内的插销杆30，通过控制舵机101的旋转，即可灵活快速地实现多轴飞行器与固定翼子机50间的固定与释放的切换，在飞行中实现多轴飞行器与固定翼子机50的分离，从而避免固定翼子机50承载多轴飞行器的重量进行巡航，影响续航时间与固定翼的飞行姿态。The multi-axis aircraft and the fixed fenders 50 are connected by a drone release mechanism, and the fixed fenders 50 are hung by the pegs 70 provided on the connecting rods 60, and are hooked to the latching rods 30 in the card slots 401, and the steering gears 101 are controlled. The rotation can flexibly and quickly realize the switching between the fixed and the release of the multi-axis aircraft and the fixed fender 50, and realize the separation of the multi-axis aircraft and the fixed fender 50 in flight, thereby avoiding the bearing of the fixed fender 50. The weight of the multi-axis aircraft is cruising, affecting the endurance time and the attitude of the fixed wing.
实施例3Example 3
如图3所示，本实施例提供一种固定翼无人机，包括实施例1的无人机释放机构；还包括多轴飞行器、固定翼子机50和连杆60，连杆60一端与固定翼子机50连接，连杆60另一端设有挂环70；舵盘102与多轴飞行器固定连接，挂环70位于卡槽401内并套设于插销杆30；还包括固定环80和碳纤维套管90，固定环80固定安装于连杆60一端，碳纤维套管90对称设于固定翼子机50，碳纤维套管90的轴线与固定翼子机50的对称轴垂直，固定环80内壁与碳纤维套管90外壁连接。As shown in FIG. 3, the embodiment provides a fixed-wing UAV, including the UAV release mechanism of Embodiment 1, and a multi-axis aircraft, a fixed fender 50, and a connecting rod 60. The fixed wing sub-machine 50 is connected, and the other end of the connecting rod 60 is provided with a hanging ring 70; the steering wheel 102 is fixedly connected with the multi-axis aircraft, the hanging ring 70 is located in the card slot 401 and sleeved on the latching rod 30; The carbon fiber sleeve 90 is fixedly mounted on one end of the connecting rod 60, and the carbon fiber sleeve 90 is symmetrically disposed on the fixed fender 50. The axis of the carbon fiber sleeve 90 is perpendicular to the axis of symmetry of the fixed fender 50, and the inner wall of the fixing ring 80 is fixed. It is connected to the outer wall of the carbon fiber sleeve 90.
通过设置于固定翼子机50的碳纤维套管90套设于连接在连杆60的固定环80，固定稳定，不易发生晃动，从而影响固定翼无人机 的飞行姿态，另外，碳纤维套管90质量较轻，且为管状结构，减少无谓负重的同时，固定环80与套管连接面大，结合处承载力强，连接可靠稳定。The carbon fiber sleeve 90 disposed on the fixed fender 50 is sleeved on the fixing ring 80 connected to the connecting rod 60, and is fixed and stable, and is less likely to sway, thereby affecting the fixed wing drone. In addition, the carbon fiber sleeve 90 is light in weight and has a tubular structure, which reduces the unnecessary load, and the connecting surface of the fixing ring 80 and the sleeve is large, the joint bearing capacity is strong, and the connection is reliable and stable.
实施例4Example 4
本实施例提供一种固定翼无人机，包括本发明实施例1的无人机释放机构；还包括多轴飞行器、固定翼子机50和连杆60，连杆60一端与固定翼子机50连接，连杆60另一端设有挂环70；舵盘102与多轴飞行器固定连接，挂环70位于卡槽401内并套设于插销杆30；还包括固定环80和碳纤维套管90，固定环80固定安装于连杆60一端，碳纤维套管90对称设于固定翼子机50，碳纤维套管90的轴线与固定翼子机50的对称轴垂直，固定环80内壁与碳纤维套管90外壁连接；碳纤维套管90与固定环80连接处的中心与固定翼子机50的重心重合。The embodiment provides a fixed-wing UAV, including the UAV release mechanism of Embodiment 1 of the present invention; further comprising a multi-axis aircraft, a fixed fender 50 and a connecting rod 60, and one end of the connecting rod 60 and the fixed fender 50 is connected, the other end of the connecting rod 60 is provided with a hanging ring 70; the steering wheel 102 is fixedly connected with the multi-axis aircraft, the hanging ring 70 is located in the card slot 401 and sleeved on the latching rod 30; and further comprises a fixing ring 80 and a carbon fiber sleeve 90 The fixing ring 80 is fixedly mounted on one end of the connecting rod 60, and the carbon fiber sleeve 90 is symmetrically disposed on the fixed fender 50. The axis of the carbon fiber sleeve 90 is perpendicular to the axis of symmetry of the fixed fender 50, and the inner wall of the fixing ring 80 and the carbon fiber sleeve The outer wall of the 90 is connected; the center of the junction of the carbon fiber sleeve 90 and the retaining ring 80 coincides with the center of gravity of the fixed fender 50.
碳纤维套管90与固定环80连接处的中心与固定翼子机50的中心重合，连接面在所有方向受到来自固定翼无人机的重力大小相等，保证无人机的飞行姿态；通过连杆60与挂环70以及释放结构连接的固定翼无人机与多轴飞行器飞行时，两者处于同一铅垂方向上，保证固定翼无人机的垂直起飞。The center of the joint of the carbon fiber sleeve 90 and the fixed ring 80 coincides with the center of the fixed wing machine 50, and the joint faces are equal in magnitude in all directions from the fixed-wing drone to ensure the flight attitude of the drone; 60 When the fixed-wing UAV and the multi-axis aircraft connected to the hanging ring 70 and the release structure are flying, the two are in the same vertical direction to ensure the vertical take-off of the fixed-wing UAV.
实施例5Example 5
本实施例提供一种固定翼无人机的起飞方法，包括实施例2的固定翼无人机，固定翼无人机的垂直起飞方法包括以下步骤：The embodiment provides a method for taking off a fixed-wing UAV, including the fixed-wing UAV of Embodiment 2. The vertical take-off method of the fixed-wing UAV includes the following steps:
S1：多轴飞行器过无人机释放机构带动固定翼子机50升空200m 后保持悬停状态；S 1 : The multi-axis aircraft passes the drone release mechanism to drive the fixed wing sub-machine 50 to stand up to 200 m and then maintain the hover state;
S2：检测器检测到固定翼子机50的空速达到起飞速度；S 2 : the detector detects that the airspeed of the fixed fender 50 reaches the takeoff speed;
S3：舵机101驱动插销杆30退出卡槽401，挂环70从插销杆30脱出；S 3 : the servo 101 drives the latch lever 30 to exit the slot 401, and the loop 70 is disengaged from the latch lever 30;
S4：固定翼子机50离开多轴飞行器，进入巡航状态。S 4 : The fixed fender 50 leaves the multi-axis aircraft and enters a cruise state.
多轴飞行器带动，固定翼子机50升空之后，固定翼子机50的空速达到起飞速度，通过释放机构的舵盘102驱动插销杆30退出卡槽401，从而实现固定翼子机50与多轴飞行器的分离，达到起飞速度的固定翼子机50在卸去多轴飞行器重量的同时，即可进入巡航状态，从而实现固定翼的垂直起飞，且卸去多轴飞行器种类的同时，飞行姿态稳定，巡航时间长。升空高度为200m，保证多轴飞行器与固定翼子机50分离后，多轴飞行器便于降落到起点，另外200m的高度保证固定翼子机50切换至巡航状态的预留时间，防止高度过低，掉落底面。After the multi-axis aircraft is driven, after the fixed fender 50 is lifted off, the airspeed of the fixed fender 50 reaches the take-off speed, and the latching lever 30 is driven by the steering wheel 102 of the release mechanism to exit the card slot 401, thereby realizing the fixed fender 50 and The separation of the multi-axis aircraft, the fixed fender 50 that reaches the take-off speed can enter the cruising state while unloading the weight of the multi-axis aircraft, thereby realizing the vertical take-off of the fixed wing and unloading the multi-axis aircraft type while flying The posture is stable and the cruising time is long. The lift-off height is 200m, ensuring that the multi-axis aircraft is separated from the fixed wing sub-machine 50, the multi-axis aircraft is easy to land to the starting point, and the other 200m height ensures the fixed time of the fixed-wing sub-machine 50 switching to the cruise state, preventing the altitude from being too low. , drop the bottom.
实施例6Example 6
本实施例提供一种固定翼无人机的起飞方法，包括实施例3的固定翼无人机，固定翼无人机的垂直起飞方法包括以下步骤：The embodiment provides a method for taking off a fixed-wing UAV, including the fixed-wing UAV of Embodiment 3. The vertical take-off method of the fixed-wing UAV includes the following steps:
S1：多轴飞行器过无人机释放机构带动固定翼子机50升空250m后保持悬停状态；S 1 : The multi-axis aircraft passes the drone release mechanism to drive the fixed wing sub-machine to maintain a hover state after lifting 250 m;
S2：舵机101驱动插销杆30退出卡槽401，挂环70从插销杆30脱出；S 2 : the servo 101 drives the latch lever 30 to exit the slot 401, and the loop 70 is disengaged from the latch lever 30;
S3：固定翼子机50离开多轴飞行器，控制器控制固定翼子机50 低头俯冲加速；S 3 : the fixed fender 50 leaves the multi-axis aircraft, and the controller controls the fixed fender 50 to lower the subduction acceleration;
S4：固定翼子机50离开多轴飞行器，进入巡航状态。S 4 : The fixed fender 50 leaves the multi-axis aircraft and enters a cruise state.
多轴飞行器带动，固定翼子机50升空之后，固通过释放机构的舵盘102驱动插销杆30退出卡槽401，从而实现固定翼子机50与多轴飞行器的分离，低头俯冲的固定翼子机50通过重力加速达到起飞速度，再切换至巡航状态，从而实现固定翼的垂直起飞，且卸去多轴飞行器种类的同时，飞行姿态稳定，巡航时间长，利用重力加速，减少能耗，延长续航时间。250m的升空高度保证固定翼子机50俯冲加速至巡航状态的预留时间，防止高度过低，掉落底面。After the multi-axis aircraft is driven, after the fixed fender 50 is lifted off, the reel 102 of the release mechanism drives the latch lever 30 to exit the slot 401, thereby realizing the separation of the fixed fender 50 from the multi-axis aircraft, and the fixed wing of the submerged dive. The sub-machine 50 accelerates to reach the take-off speed by gravity, and then switches to the cruising state, thereby realizing the vertical take-off of the fixed wing, and unloading the multi-axis aircraft type, the flight attitude is stable, the cruising time is long, and the gravity is accelerated to reduce the energy consumption. Extend battery life. The lift height of 250m ensures the reserved time for the fixed wing sub-machine 50 to accelerate to the cruise state, preventing the altitude from being too low and dropping the bottom surface.
以上为本发明的其中具体实现方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些显而易见的替换形式均属于本发明的保护范围。 The above is a specific implementation of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and scope of the invention.

Claims (5)

  1. 一种固定翼无人机的起飞方法，包括以下步骤：A take-off method for a fixed-wing UAV includes the following steps:
    S1：多轴飞行器通过无人机释放机构带动固定翼子机升空后保持悬停状态；S1: The multi-axis aircraft drives the fixed wing sub-machine to maintain the hovering state after being lifted by the drone release mechanism;
    S2：舵机驱动插销杆退出卡槽，挂环从插销杆脱出；S2: the servo drive latch pin exits the card slot, and the hanging ring is released from the latch lever;
    S3：固定翼子机离开多轴飞行器，控制器控制固定翼子机低头俯冲加速；S3: the fixed wing sub-machine leaves the multi-axis aircraft, and the controller controls the fixed wing sub-machine to subduct and accelerate;
    S4：固定翼子机离开多轴飞行器，进入巡航状态。S4: The fixed wing sub-machine leaves the multi-axis aircraft and enters the cruise state.
  2. 根据权利要求1所述的固定翼无人机的起飞方法，其特征在于：The method for taking off a fixed-wing UAV according to claim 1, wherein:
    步骤S1中升空的高度为250m。In step S 1 is off height of 250m.
  3. 根据权利要求2所述的固定翼无人机的起飞方法，其特征在于：所述固定翼无人机包括无人机释放机构；还包括多轴飞行器、固定翼子机和连杆，连杆一端与固定翼子机连接，连杆另一端设有挂环；舵盘与多轴飞行器固定连接，挂环位于卡槽内并套设于插销杆；所述无人机释放机构包括：The method for taking off a fixed-wing UAV according to claim 2, wherein the fixed-wing UAV comprises a UAV release mechanism; and further comprises a multi-axis aircraft, a fixed wing sub-machine and a connecting rod, and a connecting rod One end is connected with the fixed wing sub-machine, and the other end of the connecting rod is provided with a hanging ring; the steering wheel is fixedly connected with the multi-axis aircraft, the hanging ring is located in the card slot and sleeved on the latch rod; the drone release mechanism comprises:
    舵机：舵机包括输出轴；Steering gear: the steering gear includes an output shaft;
    舵盘：舵盘一端固定连接于输出轴；Rudder disk: one end of the steering wheel is fixedly connected to the output shaft;
    传动杆：连杆一端与舵盘另一端铰接；Transmission rod: one end of the connecting rod is hinged to the other end of the steering wheel;
    插销杆：插销杆一端与连接杆另一端铰接；The latch lever: one end of the latch lever is hinged to the other end of the connecting rod;
    安装块：安装块固定安装于舵机，安装块中部设有卡槽，安装块的横向方向设有通孔，插销杆另一端贯穿通孔延伸至卡槽内，卡槽远离舵盘一侧的内壁与插销杆另一端相抵，舵机可驱动插销杆于通孔内往复运动； Mounting block: The mounting block is fixedly mounted on the steering gear. The middle of the mounting block is provided with a card slot. The mounting block is provided with a through hole in a lateral direction. The other end of the latching rod extends through the through hole into the card slot, and the card slot is away from the side of the steering wheel. The inner wall is opposite to the other end of the latch rod, and the steering gear can drive the latch rod to reciprocate in the through hole;
  4. 根据权利要求3所述的固定翼无人机的起飞方法，其特征在于：所述固定翼无人机还包括固定环和碳纤维套管，固定环固定安装于连杆一端，碳纤维套管对称设于固定翼子机，碳纤维套管的轴线与固定翼子机的对称轴垂直，固定环内壁与碳纤维套管外壁连接。The method for taking off a fixed-wing UAV according to claim 3, wherein the fixed-wing UAV further comprises a fixing ring and a carbon fiber sleeve, wherein the fixing ring is fixedly mounted on one end of the connecting rod, and the carbon fiber sleeve is symmetrically disposed. In the fixed fender, the axis of the carbon fiber sleeve is perpendicular to the axis of symmetry of the fixed fender, and the inner wall of the retaining ring is connected to the outer wall of the carbon fiber sleeve.
  5. 根据权利要求4所述的固定翼无人机的起飞方法，其特征在于：碳纤维套管与固定环连接处的中心与固定翼子机的重心重合。 The method for taking off a fixed-wing UAV according to claim 4, wherein the center of the joint between the carbon fiber sleeve and the fixing ring coincides with the center of gravity of the fixed wing sub-machine.
PCT/CN2017/110238 2017-10-27 2017-11-09 Takeoff method for fixed-wing unmanned aerial vehicle WO2019080179A1 (en)

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CN107813937A (en) * 2017-10-27 2018-03-20 罗伟 A kind of method that takes off vertically of fixed-wing unmanned plane

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EP3127809A1 (en) * 2015-08-03 2017-02-08 Lockheed Martin Corporation Release and capture of a fixed-wing aircraft
CN205589484U (en) * 2016-04-19 2016-09-21 清远市巨劲科技有限公司 Unmanned aerial vehicle takes thing device
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