CN106800089A - A kind of rotor wing unmanned aerial vehicle of electric tilting three - Google Patents
A kind of rotor wing unmanned aerial vehicle of electric tilting three Download PDFInfo
- Publication number
- CN106800089A CN106800089A CN201510832149.0A CN201510832149A CN106800089A CN 106800089 A CN106800089 A CN 106800089A CN 201510832149 A CN201510832149 A CN 201510832149A CN 106800089 A CN106800089 A CN 106800089A
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- CN
- China
- Prior art keywords
- rotor
- canard
- motor rotor
- wing
- unmanned plane
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- Legal status (The legal status 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 status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
- B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
- B64C29/0033—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being tiltable relative to the fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/12—Canard-type aircraft
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The rotor wing unmanned aerial vehicle of electric tilting three is that one kind has helicopter and fixed wing aircraft flight characteristic concurrently, is capable of the aircraft of VTOL and STOL.Its total arrangement is constituted by moving canard, straight lower single-blade and fixed V tails entirely.Two motors and rotor of this unmanned plane are fixed on the wing tip of canard, can be independently with canard tilt angle, and another motor and rotor are arranged between V tails, also can tilt angle around the shaft.When the rotary shaft of the secondary rotor of unmanned plane three is verted to Z axis, aircraft can realize the offline mode of helicopter, and when three secondary rotors vert to X-axis, aircraft can realize the offline mode of fixed wing aircraft.The reaction torque and control UAV Attitude of rotor are overcome by the thrust size and Orientation of the secondary rotor of control three simultaneously.This unmanned plane can allow user in limited place or runway landing unmanned plane to perform special duty, improve unmanned plane during flying speed, cruising time and payload.
Description
Technical field
The present invention relates to unmanned plane field, the tilting rotor wing unmanned aerial vehicle of vertical/STOL can be specially realized.
Background technology
At present, unmanned air vehicle technique has been widely applied to us and has lived central, such as take photo by plane, make an inspection tour, investigate, entertain.And the unmanned plane of in the market is broadly divided into two major classes：Fixed-wing class unmanned plane and rotor class unmanned plane.Fixed-wing class unmanned plane mostly runs landing using sliding on runway, and it has payload big, and cruising speed is fast, and cruising time is long and the advantages of efficiency high, but its dependence to runway is strong, it is motor-driven to be unable to minor radius and hovers, so as to limit its use occasion.Rotor class unmanned plane includes common helicopter and multi-rotor unmanned aerial vehicle, and they can realize VTOL, and can be flown in less space, flexibility is higher than fixed-wing class unmanned plane, but it has that payload is smaller, cruising speed is slower, cruising time shorter shortcoming.So, two kinds of unmanned planes have its respective advantage and disadvantage, so that limiting it to a certain extent uses flexibility and efficiency.
The content of the invention
In order to solve the technical problem of appeal, the invention provides a kind of method by the unmanned plane rotor that verts, realize that unmanned plane can freely be changed between helicopter mode and fixed wing aircraft pattern, so that it possesses two kinds of advantages of unmanned plane, improve the applicability of aircraft.
A kind of rotor wing unmanned aerial vehicle of electric tilting three, including fuselage, main wing, aileron, undercarriage, left canard, right canard, left motor rotor, right motor rotor, fixed vee tail, motor rotor and rear motor bearing rotating shaft afterwards, main wing is arranged on waist, undercarriage is arranged on underbelly, aileron is arranged on main wing rear outside, left canard and right canard are connected to fuselage by turning to take out, left motor rotor and right motor rotor are separately fixed on the wing tip of left canard and right canard, fixed vee tail is arranged on the afterbody of fuselage, motor rotor is fixed and is arranged between vee tail by rear motor bearing rotating shaft afterwards, left canard and right canard independently vert scope for 0 °~150 °, motor bearing rotating shaft afterwards verts scope for 0 °~120 °.
Further, the left motor rotor of the above-mentioned rotor wing unmanned aerial vehicle of electric tilting three, right motor rotor and rear motor rotor three are independent control rotating speed, and the direction of rotation of left motor rotor and right motor rotor is identical and opposite with the direction of rotation of rear motor rotor.
Further, the undercarriage of the above-mentioned rotor wing unmanned aerial vehicle of electric tilting three is tricycle landing gear, when left canard, right canard and rear motor bearing rotating shaft are tilted to any one angle between 0 °~70 °, unmanned plane can carry out short distance and slide race landing the tricycle landing gear.
The present invention passes through the rotor of the unmanned plane that verts, and possesses the advantage that unmanned plane possesses fixed-wing unmanned plane and helicopter, can a tractor serves several purposes, raising unmanned plane during flying efficiency and applicability.
Brief description of the drawings
Isometric views when Fig. 1 is helicopter mode of the present invention.
Isometric views when Fig. 2 is fixed-wing pattern of the present invention.
Isometric views when Fig. 3 is STOL of the present invention.
Fig. 4 is the top view of helicopter mode of the present invention.
Fig. 5 is the front view of helicopter mode of the present invention.
Fig. 6 is the side view of helicopter mode of the present invention.
Fig. 7 is the top view of fixed-wing pattern of the present invention.
Fig. 8 is the front view of fixed-wing pattern of the present invention.
Fig. 9 is the side view of fixed-wing pattern of the present invention.
In figure：1st, fuselage；2nd, left canard；3rd, right canard；4th, left motor rotor；5th, right motor rotor；6th, main wing；7th, aileron；8th, fixed vee tail；9th, rear motor rotor；10th, rear motor bearing rotating shaft；11. undercarriages.
Specific embodiment
Specific embodiment of the invention is illustrated below in conjunction with the accompanying drawings：
A kind of rotor wing unmanned aerial vehicle of electric tilting three,Including fuselage 1,Main wing 6,Aileron 7,Undercarriage 11,Left canard 2,Right canard 3,Left motor rotor 4,Right motor rotor 5,Fixed vee tail 8,Motor rotor 9 and rear motor bearing rotating shaft 10 afterwards,Main wing 6 is arranged on the middle part of fuselage 1,Undercarriage 11 is arranged on the bottom of fuselage 1,Aileron 7 is arranged on the rear outside of main wing 6,Left canard 2 and right canard 3 are connected to fuselage 1 by turning to take out,Left motor rotor 4 and right motor rotor 5 are separately fixed on the wing tip of left canard 2 and right canard 3,Fixed vee tail 8 is arranged on the afterbody of fuselage 1,Motor rotor 9 is fixed and is arranged between vee tail 8 by rear motor bearing rotating shaft 10 afterwards,Left canard 2 and right canard 3 independently vert scope for 0 °~150 °,Motor bearing rotating shaft 10 afterwards verts scope for 0 °~120 °.
When aircraft is in helicopter mode, lift is produced by three secondary rotor wing rotations, and the attitude and the direction of motion of aircraft are controlled by adjusting the size and Orientation of Rotor thrust.Left motor rotor 4 is consistent with the direction of rotation of right motor rotor 5（It is shown as in Fig. 1 counterclockwise）, and with the rear direction of rotation of motor rotor 9（It is shown as in Fig. 1 clockwise）Conversely.It is so designed that when enabling to canard differential, the X-direction component of the reaction torque of left and right rotor is cancelled out each other, it is to avoid it makes aircraft rolling.Now, the Z-direction component of the reaction torque of rotor one cancels each other, and another part then produces rolling moment M by differential certain angle before and after left canard 2 and right canard 3zOffset, so as to ensure unmanned plane steadily hovering.The course that Differential angle just controls aircraft is increasedd or decreased on the basis of above-mentioned angle.Cause that the z-component of left and right Rotor thrust is different with motor differential by the way that left and right canard is differential, produce rolling moment MxSo that aircraft rolling, and aileron 7 can not control aircraft rolling.Cause that the z-component of front and rear Rotor thrust is different from the rear differential of motor rotor 9 by left motor rotor 4 and right motor rotor 5, produce pitching moment MySo that aircraft pitch.
When aircraft is in fixed wing aircraft pattern, left motor rotor 4 is tilted forward to X-direction with right motor rotor 5, and rear motor rotor 9 retreats and goes near X-direction, and the thrust that they are produced is used for overcoming aircraft flight resistance and gesture stability.The lift that main wing 6 is produced is used for overcoming gravity.It is characterized in that：It is upward by left canard 2 and right canard 3（Or downwards）Deflection certain angle, rear motor bearing rotating shaft 10 is downward（Or upwards）Deflection certain angle, produces pitching moment MySo that aircraft comes back（Or bow）.Yawing M is produced with the right differential of motor rotor 5 by left motor rotor 4zSo that aircraft yaw.Deflected by aileron 7 and produce rolling moment MxSo that aircraft rolling.Fixed vee tail 8 is used for improving vector stability.
Just STOL can be carried out with this angle when certain angle, unmanned plane is appointed between rotor is tilted to 0 °~70 °.Now, it is similar with above-mentioned helicopter mode and fixed-wing pattern, it is also the attitude that aircraft is controlled by the thrust vectoring and aileron movement of the pair of control three rotor simultaneously.
The invention is taken a flight test by checking test, it was demonstrated that flight theory is feasible with control.
Claims (3)
1. a kind of rotor wing unmanned aerial vehicle of electric tilting three, including fuselage（1）, main wing（6）, aileron（7）And undercarriage（11）, the main wing（6）Installed in fuselage（1）Middle part, the undercarriage（11）It is arranged on fuselage（1）Bottom, the aileron（7）It is arranged on main wing（6）Rear outside, it is characterised in that：The rotor wing unmanned aerial vehicle of the electric tilting three also includes left canard（2）, right canard（3）, left motor rotor（4）, right motor rotor（5）, fixed vee tail（8）, rear motor rotor（9）With rear motor bearing rotating shaft（10）, the left canard（2）With right canard（3）Fuselage is connected to by turning to take out（1）, the left motor rotor（4）With right motor rotor（5）It is separately fixed at left canard（2）With right canard（3）Wing tip on, the fixed vee tail（8）Installed in fuselage（1）Afterbody on, the rear motor rotor（9）Fix by rear motor bearing rotating shaft（10）Installed in vee tail（8）Between, the left canard（2）With right canard（3）Scope of independently verting is 0 °~150 °, the rear motor bearing rotating shaft（10）Scope of verting is 0 °~120 °.
2. the rotor wing unmanned aerial vehicle of electric tilting according to claim 1 three, it is characterised in that：The left motor rotor（4）, right motor rotor（5）With rear motor rotor（9）Three is independent control rotating speed, the left motor rotor（4）With right motor rotor（5）Direction of rotation it is identical and with rear motor rotor（9）Direction of rotation it is opposite.
3. the rotor wing unmanned aerial vehicle of electric tilting according to claim 1 and 2 three, it is characterised in that：The undercarriage（11）It is tricycle landing gear, the tricycle landing gear is in left canard（2）, right canard（3）And rear motor bearing rotating shaft（10）During any one angle being tilted between 0 °~70 °, unmanned plane can carry out short distance and slide race landing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510832149.0A CN106800089A (en) | 2015-11-25 | 2015-11-25 | A kind of rotor wing unmanned aerial vehicle of electric tilting three |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510832149.0A CN106800089A (en) | 2015-11-25 | 2015-11-25 | A kind of rotor wing unmanned aerial vehicle of electric tilting three |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106800089A true CN106800089A (en) | 2017-06-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510832149.0A Pending CN106800089A (en) | 2015-11-25 | 2015-11-25 | A kind of rotor wing unmanned aerial vehicle of electric tilting three |
Country Status (1)
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| CN (1) | CN106800089A (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499505A (en) * | 2017-07-07 | 2017-12-22 | 北京航空航天大学 | Three-wing-surface unmanned vehicle |
| CN107521684A (en) * | 2017-08-29 | 2017-12-29 | 北京电子工程总体研究所 | One kind is verted three rotor crafts |
| CN107571994A (en) * | 2017-10-14 | 2018-01-12 | 上海歌尔泰克机器人有限公司 | A kind of aircraft |
| CN107639984A (en) * | 2017-10-23 | 2018-01-30 | 大连理工大学 | It is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert |
| CN108177777A (en) * | 2018-01-23 | 2018-06-19 | 南方科技大学 | Aircraft based on wingtip vortex lift-increasing |
| CN108298074A (en) * | 2018-03-14 | 2018-07-20 | 长沙市云智航科技有限公司 | The component that verts for the more rotor flying vehicles of manned duct |
| CN108327906A (en) * | 2018-01-31 | 2018-07-27 | 北京临近空间飞行器系统工程研究所 | A kind of morphing aircraft |
| CN108394556A (en) * | 2018-05-06 | 2018-08-14 | 北京天宇新超航空科技有限公司 | A kind of efficient tilting rotor wing unmanned aerial vehicle |
| CN108454819A (en) * | 2018-04-23 | 2018-08-28 | 成都航空职业技术学院 | Three-surface configuration VTOL general-purpose aircraft |
| CN108545181A (en) * | 2018-05-25 | 2018-09-18 | 西安航空学院 | Fixed-wing rotor combined type unmanned plane |
| CN108725773A (en) * | 2018-08-06 | 2018-11-02 | 云呈通信息科技（上海）有限公司 | A kind of unmanned transporter |
| CN108773475A (en) * | 2018-04-28 | 2018-11-09 | 成都航空职业技术学院 | The small-sized power general-purpose aircraft that verts of Three-wing-surface |
| CN109071003A (en) * | 2017-12-22 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Unmanned plane and unmanned aerial vehicle (UAV) control method |
| CN109407692A (en) * | 2017-08-17 | 2019-03-01 | 西安羚控电子科技有限公司 | Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode |
| CN109552616A (en) * | 2017-09-27 | 2019-04-02 | 周建卫 | Novel unmanned plane |
| WO2019079930A1 (en) * | 2017-10-23 | 2019-05-02 | 大连理工大学 | Sea-air-land-dive four-environment tilting three-rotor unmanned aerial vehicle capable of vertical take-off and landing |
| CN111152920A (en) * | 2020-01-08 | 2020-05-15 | 北京建筑大学 | Unmanned aerial vehicle capable of vertically taking off and landing |
| RU2723516C1 (en) * | 2019-08-09 | 2020-06-11 | Общество с ограниченной ответственностью "АДА БПЛА" | Convertiplane |
| CN111532426A (en) * | 2020-04-22 | 2020-08-14 | 中国空气动力研究与发展中心 | Aircraft with V-shaped empennage and multiple rotors in vertical take-off and landing layout |
| CN113165732A (en) * | 2018-11-30 | 2021-07-23 | 斯凯卡诺公司 | Aircraft with enhanced pitch control and interchangeable components |
| CN113260566A (en) * | 2018-12-28 | 2021-08-13 | 列奥纳多股份公司 | Thrust reverser aircraft and associated control method |
| CN113277076A (en) * | 2021-07-22 | 2021-08-20 | 国网通用航空有限公司 | Propeller resistance reducing device of vertical take-off and landing fixed wing unmanned aerial vehicle and control method thereof |
| JP2021130462A (en) * | 2020-02-27 | 2021-09-09 | 義郎 中松 | Flying body including high-speed drone |
| WO2021226857A1 (en) * | 2020-05-13 | 2021-11-18 | 大连理工大学 | Tilt-rotor-wing aircraft and driving method therefor |
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Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107499505A (en) * | 2017-07-07 | 2017-12-22 | 北京航空航天大学 | Three-wing-surface unmanned vehicle |
| CN109407692A (en) * | 2017-08-17 | 2019-03-01 | 西安羚控电子科技有限公司 | Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode |
| CN107521684A (en) * | 2017-08-29 | 2017-12-29 | 北京电子工程总体研究所 | One kind is verted three rotor crafts |
| CN109552616A (en) * | 2017-09-27 | 2019-04-02 | 周建卫 | Novel unmanned plane |
| CN107571994A (en) * | 2017-10-14 | 2018-01-12 | 上海歌尔泰克机器人有限公司 | A kind of aircraft |
| CN107639984B (en) * | 2017-10-23 | 2023-07-18 | 大连理工大学 | Sea, land, air and water amphibious four-purpose tilting three-rotor unmanned aerial vehicle capable of taking off and landing vertically |
| WO2019079930A1 (en) * | 2017-10-23 | 2019-05-02 | 大连理工大学 | Sea-air-land-dive four-environment tilting three-rotor unmanned aerial vehicle capable of vertical take-off and landing |
| US11305873B2 (en) | 2017-10-23 | 2022-04-19 | Dalian University Of Technology | Air, sea and underwater tilt tri-rotor UAV capable of performing vertical take-off and landing |
| CN107639984A (en) * | 2017-10-23 | 2018-01-30 | 大连理工大学 | It is a kind of can the aeroamphibious latent four of VTOL dwell three rotor wing unmanned aerial vehicles that vert |
| WO2019119409A1 (en) * | 2017-12-22 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and control method for unmanned aerial vehicle |
| CN109071003A (en) * | 2017-12-22 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Unmanned plane and unmanned aerial vehicle (UAV) control method |
| CN108177777B (en) * | 2018-01-23 | 2023-11-10 | 南方科技大学 | Aircraft based on wingtip vortex rise |
| CN108177777A (en) * | 2018-01-23 | 2018-06-19 | 南方科技大学 | Aircraft based on wingtip vortex lift-increasing |
| CN108327906A (en) * | 2018-01-31 | 2018-07-27 | 北京临近空间飞行器系统工程研究所 | A kind of morphing aircraft |
| CN108298074A (en) * | 2018-03-14 | 2018-07-20 | 长沙市云智航科技有限公司 | The component that verts for the more rotor flying vehicles of manned duct |
| CN108454819A (en) * | 2018-04-23 | 2018-08-28 | 成都航空职业技术学院 | Three-surface configuration VTOL general-purpose aircraft |
| CN108773475A (en) * | 2018-04-28 | 2018-11-09 | 成都航空职业技术学院 | The small-sized power general-purpose aircraft that verts of Three-wing-surface |
| CN108394556A (en) * | 2018-05-06 | 2018-08-14 | 北京天宇新超航空科技有限公司 | A kind of efficient tilting rotor wing unmanned aerial vehicle |
| CN108545181A (en) * | 2018-05-25 | 2018-09-18 | 西安航空学院 | Fixed-wing rotor combined type unmanned plane |
| CN108725773A (en) * | 2018-08-06 | 2018-11-02 | 云呈通信息科技（上海）有限公司 | A kind of unmanned transporter |
| CN113165732B (en) * | 2018-11-30 | 2022-10-28 | 斯凯卡诺公司 | Aircraft with enhanced pitch control and interchangeable components |
| CN113165732A (en) * | 2018-11-30 | 2021-07-23 | 斯凯卡诺公司 | Aircraft with enhanced pitch control and interchangeable components |
| CN113260566A (en) * | 2018-12-28 | 2021-08-13 | 列奥纳多股份公司 | Thrust reverser aircraft and associated control method |
| WO2021029790A1 (en) * | 2019-08-09 | 2021-02-18 | Андрей Андреевич САБАДАШ | Convertiplane |
| RU2723516C1 (en) * | 2019-08-09 | 2020-06-11 | Общество с ограниченной ответственностью "АДА БПЛА" | Convertiplane |
| EP4011772A4 (en) * | 2019-08-09 | 2023-08-02 | Sabadash, Andrew Andreevich | Convertiplane |
| US11964759B2 (en) | 2019-08-09 | 2024-04-23 | Andrew Andreevich Sabadash | Convertiplane |
| CN111152920A (en) * | 2020-01-08 | 2020-05-15 | 北京建筑大学 | Unmanned aerial vehicle capable of vertically taking off and landing |
| JP2021130462A (en) * | 2020-02-27 | 2021-09-09 | 義郎 中松 | Flying body including high-speed drone |
| CN111532426A (en) * | 2020-04-22 | 2020-08-14 | 中国空气动力研究与发展中心 | Aircraft with V-shaped empennage and multiple rotors in vertical take-off and landing layout |
| WO2021226857A1 (en) * | 2020-05-13 | 2021-11-18 | 大连理工大学 | Tilt-rotor-wing aircraft and driving method therefor |
| US11993370B2 (en) | 2020-05-13 | 2024-05-28 | Dalian University Of Technology | Coaxial tilt-rotor unmanned aerial vehicle and control method thereof |
| CN113277076A (en) * | 2021-07-22 | 2021-08-20 | 国网通用航空有限公司 | Propeller resistance reducing device of vertical take-off and landing fixed wing unmanned aerial vehicle and control method thereof |
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