CN206125421U

CN206125421U - VTOL unmanned vehicles

Info

Publication number: CN206125421U
Application number: CN201621114335.7U
Authority: CN
Inventors: 曹萍
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-10-12
Filing date: 2016-10-12
Publication date: 2017-04-26
Anticipated expiration: 2026-10-12

Abstract

The utility model belongs to the technical field of the aviation, a VTOL unmanned vehicles is related to, its characterized in that: including organism, wing, engine, engine screw, aileron, horizontal tail, vertical fin, connection four supports that take off and land, a plurality of linking arms, connection a plurality of motors, connection a plurality of rotors on a plurality of motors on linking arm of connection on fuselage (or wing or horizontal tail or vertical fin) on vertical fin (or wing or horizontal tail). The utility model provides a VTOL unmanned vehicles can be like the rotor craft VTOL, again can be like the fixed wing aircraft high -speed flight, can also keep fixed wing aircraft to patrol advantages such as long between flight time, far away, the pneumatic excellent performance of the distance of cruising, wind resistance are good, greatly the load fly with take -off weight greatly.

Description

A kind of vertical take-off and landing unmanned aerial vehicle

Technical field

The utility model is related to a kind of vertical take-off and landing unmanned aerial vehicle, belongs to Aeronautics field.

Background technology

Unmanned vehicle can be generally divided into fixed-wing unmanned vehicle and rotor unmanned aircraft by function.Fixed-wing without People's aircraft has the advantages that cruise time length, cruising range are remote, aeroperformance is excellent, wind resistance good, but fixed-wing unmanned plane Also there is inborn limitation：Longer takeoff and landing runway is needed, is just also required to by the way of catapult-assisted take-off, parachuting at last One section of larger operating space, disadvantages mentioned above significantly limit the use range of fixed-wing unmanned vehicle.Nobody is winged for rotor Row device produces the power and torque of balancing gravity and flight operation by rotor, and the maximum advantage of rotor unmanned aircraft can be Vertical and landing takeoff, hovering are flown to any direction, therefore rotor unmanned aircraft need not provide special rising Drop runway, the shortcoming with more applications, but rotor unmanned aircraft is also apparent from：Flight time is short, course continuation mileage is near, wind resistance Property is bad.

From being born from aircraft, people have been working hard attempt making fly with Fixed Wing AirVehicle and rotor simultaneously The osprey tiltrotor of the aircraft of row device advantage, the such as U.S., the vertical configuration of two screws by changing lateral arrangement State is realized taking off vertically to horizontality and is flown with before level, but at the volley gradually rotates the screw of vertical rotary to water Level state, significantly increases control difficulty and aviation accident risk, after perfect, the rotation until osprey today is verted of nearly 30 years Wing machine also has an accident frequently.Except tiltrotor, the XFV-1 aircrafts in the U.S. support head to take off vertically upward by tailstock, so Afterwards aircraft is gradually gone to by level flight condition by plumbness by the synergy of conventional rudder face, will during due to taking off vertically Ask motor power huge and make " deadweight " of engine excessive, airplane efficiency is very low, and the Fixed Wing AirVehicle of routine The operational torque that rudder face is produced is limited, and the control performance of aircraft is very poor, and wind loading rating wretched insufficiency, and accident rate is too high.With The rise of many rotor unmanned aircrafts in recent years, in length and breadth company combines conventional fixed-wing unmanned vehicle and four rotors in Chengdu Into compound unmanned vehicle, using electronic four rotor VTOL is carried out, carry out putting down winged using the engine and rudder face of fixed-wing, by Carry out balancing gravity by four rotors completely when vertical and landing takeoff and operational torque is provided, therefore the battery of four rotors and needs Whole machine a big chunk weight is accounted for, it is completely useless in flat flying, therefore, " deadweight " of aircraft is excessive, the weight of whole aircraft Can only be in tens kilograms of magnitude, it is impossible to do big, and during low speed fixed-wing state engine the bad balance of anti-twisted torque, separately Outward, aircraft enters the flat four rotors disturbance that windward part produces for flying not resupplied after state electric current and increased fixed-wing state Control difficulty.

Utility model content

To overcome above-mentioned technical deficiency, the purpose of this utility model be to provide it is a kind of have VTOL ability, long voyage, Easily controllable vertical take-off and landing unmanned aerial vehicle.

A kind of vertical take-off and landing unmanned aerial vehicle of the present utility model, including body, wing, engine, engine prop, Aileron, horizontal tail, vertical fin, four landing supports being connected on vertical fin (or wing or horizontal tail), it is connected to fuselage (or wing or flat Tail or vertical fin) on multiple linking arms, connection multiple motors, multiple rotors being connected on multiple motors on the connecting arm.

When described four landing supports being connected on vertical fin (or wing or horizontal tail) are used for aircraft takeoff and land Support aircraft.When taking off, aircraft connects engine prop rotation generation liter vertically upward to aircraft in engine Power and motor drive rotor wing rotation to produce and take off vertically under the synergy of lift vertically upward, connection on the connecting arm many Individual motor drives rotor to provide the operating physical force on lift and aircraft pitching, rolling and driftage three degree of freedom vertically upward Square；Entered by the state that takes off vertically in flat winged state procedure in aircraft, wing produces lift, on aileron, horizontal tail and vertical fin The torque that aerodynamic force is produced is combined the torque of the aerodynamic force generation that multiple Motor drive rotors are produced and jointly controls aircraft Aircraft is gradually entered level flight condition by pitching, rolling and driftage three degree of freedom attitude by plumbness control；With The gradually increase of the horizontal flying speed of aircraft, the rotating speed of Motor drive rotor is progressively smaller until stopping, and hereafter aircraft enters Enter fixed-wing state of flight, driven by engine engine prop provides thrust, and wing, aileron, horizontal tail and vertical fin joint is provided The power and torque of operation aircraft；When aircraft lands, the torque and aileron of the aerodynamic force generation of Motor drive rotor wing rotation, The torque that aerodynamic force in horizontal tail and vertical fin is produced jointly controls the appearance on pitching, rolling and the driftage three degree of freedom of aircraft State, aircraft is changed from level flight condition to vertical landing state, and now engine connection engine prop rotation is produced Raw lift and motor drives the lift joint that rotor wing rotation is produced to provide the lift for overcoming aircraft gravity；When aircraft is entered Vertical landing state, engine connection engine prop rotation produces lift vertically upward and motor drives rotor wing rotation to produce Vertical landing under the synergy of raw lift vertically upward, it is vertical that the multiple motors for connecting on the connecting arm drive rotor to provide The operational torque on lift and aircraft pitching, rolling and driftage three degree of freedom upwards.

Described aircraft engine can be one and drive an engine prop, or an engine The contrary engine props in two direction of rotation of (or two engines) drive constitute coaxial system, or two are started Machine drives two contrary engine props in direction of rotation to be distributed horizontally to body both sides.

The described multiple linking arms being connected on fuselage (or wing or horizontal tail or vertical fin) can be 3,4,6 or 8.

Described engine is provided power by oil, and described motor is by battery or power electric generators.

Described connection multiple motors on the connecting arm can constitute four with the multiple rotors being connected on multiple motors Rotor, six rotors or eight rotors, each rotor and another adjacent rotor wing rotation it is in opposite direction, the rotary shaft of each rotor is inclined Oblique one is more than or equal to 0 degree of angle less than 90 degree to provide the operation of the balanced engine screw anti-twisted torque that rotation is produced Torque；Described rotor folds back automatically after aircraft enters flat winged state, reduces flight resistance.

Described connection multiple motors on the connecting arm can constitute three with the multiple rotors being connected on multiple motors Coaxial six rotor of arm, coaxial eight rotor of four arms, coaxial 12 rotor of six arms or coaxial 16 rotor of eight arms, two on each arm Electric machine rotational axis are coaxial, and the motor-driven rotor wing rotation of two on each linking arm is in opposite direction, each rotor and adjacent Another rotor wing rotation is in opposite direction, and the rotary shaft of each rotor inclines an angle more than or equal to 0 degree less than 90 degree to carry The operational torque of the anti-twisted torque for producing is rotated for balanced engine screw；Described rotor enters flat winged state in aircraft Fold back automatically afterwards, reduce flight resistance.

The utility model provide a kind of vertical take-off and landing unmanned aerial vehicle can the VTOL as rotor craft, and Can the high-speed flight as Fixed Wing AirVehicle, Fixed Wing AirVehicle cruise time length, cruising range can also be kept remote, pneumatic The advantages of function admirable, wind resistance are good, additionally it is possible to which heavy－duty and big take-off weight are flown.

Description of the drawings

Fig. 1 is the structural representation of the utility model embodiment 1；

Fig. 2 is that rotor folds schematic diagram；

Fig. 3 is the structural representation of the utility model embodiment 2；

Fig. 4 is the structural representation of the utility model embodiment 3；

Fig. 5 is the structural representation of the utility model embodiment 4；

Fig. 6 is the structural representation of the utility model embodiment 5.

Specific embodiment

The utility model is described in further detail below in conjunction with the embodiment that accompanying drawing is given.

Embodiment 1

As depicted in figs. 1 and 2, a kind of vertical take-off and landing unmanned aerial vehicle of the present embodiment, including body 1, wing 2, start Machine 3, engine prop 4, aileron 5, horizontal tail 6, vertical fin 7, four landing supports 8 being connected on vertical fin 7 and horizontal tail 6, connection 4 linking arms 9 on wing 2,4 motors 10 being connected on linking arm 9,4 rotors being connected on 4 motors 10 11。

Be connected on vertical fin 7 and horizontal tail 6 four described landing supports 8 are used to aircraft takeoff and support when landing fly Row device.When taking off, the connection rotation of engine prop 4 of engine 3 produces lift vertically upward and the band of motor 10 to aircraft Take off vertically under the synergy of the rotation of dynamic rotor 11 generation lift vertically upward, the multiple motors being connected on linking arm 9 10 drive rotors 11 provide the operational torque on lift vertically upward and aircraft pitching, rolling and driftage three degree of freedom； Entered by the state that takes off vertically in flat winged state procedure in aircraft, wing 2 produces lift, on aileron 5, horizontal tail 6 and vertical fin 7 The torque that aerodynamic force is produced is combined multiple motors 10 and drives the torque that the aerodynamic force that rotor 11 is produced is produced to jointly control aircraft Pitching, rolling and driftage three degree of freedom attitude by aircraft gradually by plumbness control enter level flight condition；With The gradually increase of the horizontal flying speed of aircraft, motor 10 drives the rotating speed of rotor 11 to be progressively smaller until stopping, hereafter flying Row device enter fixed-wing state of flight, engine 3 drive engine prop 4 provide thrust, wing 2, aileron 5, horizontal tail 6 and hang down The joint of tail 7 provides the power and torque of operation aircraft；When aircraft lands, motor 10 drives the aerodynamic force of the rotation of rotor 11 to produce The torque that aerodynamic force in raw torque and aileron 5, horizontal tail 6 and vertical fin 7 is produced jointly controls the pitching of aircraft, rolling and partially Attitude on boat three degree of freedom, aircraft is changed from level flight condition to vertical landing state, and now engine 3 connects The joint of the lift that the lift and the drive rotation of rotor 11 of motor 10 that the rotation of engine prop 4 is produced is produced is provided and overcomes flight Think highly of power；When aircraft enters vertical landing state, the connection rotation of engine prop 4 of engine 3 produces liter vertically upward Power and motor 10 drive rotor 11 to rotate vertical landing under the synergy for producing lift vertically upward, are connected to linking arm 9 On multiple motors 10 drive rotor 11 to provide on lift vertically upward and aircraft pitching, rolling and driftage three degree of freedom Operational torque.

Described aircraft engine 3 is one and drives an engine prop 4.

The described linking arm 9 being connected on wing 2 is four.

Described engine 3 is provided power by oil, and described motor 10 is by battery or power electric generators.

Be connected on linking arm 94 described motors 10 constitute four rotations with 4 rotors 11 being connected on 4 motors The wing, each rotor 11 and another adjacent direction of rotation of rotor 11 are conversely, the rotary shaft of each rotor 11 inclines one and is more than 90 degree of angle a is less than equal to 0 degree to provide the operational torque that balanced engine screw 4 rotates the anti-twisted torque for producing, often It is identical that the rotary shaft of individual rotor 11 inclines the operational torque direction for producing with the rotary shaft of diagonal rotor 11；Described rotor 11 Fold back automatically after aircraft enters flat winged state, reduce flight resistance.

Embodiment 2

As shown in figure 3, a kind of vertical take-off and landing unmanned aerial vehicle of the present embodiment, its operation principle is same as Example 1, area Aircraft engine 3 described in not being is that an engine 3 drives two contrary engine props 4 in direction of rotation to constitute Coaxial system.

Embodiment 3

As shown in figure 4, a kind of vertical take-off and landing unmanned aerial vehicle of the present embodiment, its operation principle is same as Example 1, area Aircraft engine 3 described in not being is that two engines 3 drive the contrary level of engine prop 4 in two direction of rotation It is distributed in the both sides of body 1.

Embodiment 4

As shown in figure 5, a kind of vertical take-off and landing unmanned aerial vehicle of the present embodiment, its operation principle is same as Example 1, area It is not 8 motors being connected on 4 linking arms 9 described in described aircraft and 8 rotations being connected on 8 motors 10 The wing 11 constitutes coaxial eight rotor of four arms, two rotating shaft coaxles of motor 10 on each linking arm 9, two on each linking arm 9 The direction of rotation of rotor 11 that individual motor 10 drives conversely, each rotor 11 and another adjacent direction of rotation of rotor 11 conversely, The rotary shaft of each rotor 11 inclines angle a more than or equal to 0 degree less than 90 degree and is revolved with providing balanced engine screw 4 The operational torque of raw anti-twisted torque of changing the line of production, the rotary shaft of each rotor 11 and the rotary shaft of diagonal rotor 11 incline what is produced Operational torque direction is identical；Described rotor 11 folds back automatically after aircraft enters flat winged state, reduces flight resistance.

Embodiment 5

As shown in fig. 6, a kind of vertical take-off and landing unmanned aerial vehicle of the present embodiment, its operation principle is same as Example 1, area Linking arm 9 described in not being is four, and two of which linking arm 9 is connected on wing 2, and another two linking arm 9 is connected to vertical On tail 7.Two are connected on wing 2 in four described landing supports 8, and another two landing support 8 is connected on vertical fin 7.

For a person skilled in the art, technical scheme and design that can be as described above make other various phases The change answered and deformation, and all these changes and deformation should all belong to the utility model right scope of protection Within.

Claims

1. a kind of vertical take-off and landing unmanned aerial vehicle, it is characterised in that：Including body, wing, engine, engine prop, pair The wing, horizontal tail, vertical fin, be connected to vertical fin or wing or horizontal tail on four landing supports, be connected to fuselage or wing or horizontal tail or Multiple linking arms, connection multiple motors, the multiple rotors being connected on multiple motors on the connecting arm on vertical fin；Aircraft Engine can be one and drive an engine prop, or an engine or two driven by engine, two rotations The engine prop for turning in opposite direction constitutes coaxial system, or two driven by engine, two direction of rotation are contrary Engine prop is distributed horizontally to body both sides；Multiple linking arms on being connected to fuselage or wing or horizontal tail or vertical fin can be with It is 3,4,6 or 8；Four landing supports on being connected to vertical fin or wing or horizontal tail are used for aircraft takeoff and landing When support aircraft；Engine is provided power by oil, and motor is by battery or power electric generators；Aircraft when taking off, Aircraft produces lift vertically upward in engine connection engine prop rotation and motor drives rotor wing rotation generation vertical Take off vertically under the synergy of straight lift upwards, the multiple motors for connecting on the connecting arm drive rotor to provide vertically upward Lift and aircraft pitching, rolling and driftage three degree of freedom on operational torque；Entered by the state of taking off vertically in aircraft Enter to put down and fly in state procedure, wing produces lift, and the torque that the aerodynamic force on aileron, horizontal tail and vertical fin is produced combines multiple motors The torque that the aerodynamic force that driving rotor is produced is produced jointly controls pitching, rolling and the driftage three degree of freedom attitude of aircraft will Aircraft gradually enters level flight condition by plumbness control；With the gradually increase of the horizontal flying speed of aircraft, electricity Machine drives the rotating speed of rotor to be progressively smaller until stopping, and hereafter aircraft enters fixed-wing state of flight, and driven by engine starts Machine screw provides thrust, and wing, aileron, horizontal tail and vertical fin joint provides the power and torque of operation aircraft；When aircraft drop When falling, the torque that the aerodynamic force in the torque and aileron, horizontal tail and vertical fin of the aerodynamic force generation of Motor drive rotor wing rotation is produced Jointly control the attitude on the pitching of aircraft, rolling and driftage three degree of freedom, by aircraft from level flight condition to hanging down The state that lands vertically changes, and the lift and motor that now engine connection engine prop rotation is produced drives rotor wing rotation to produce Lift joint provide overcome aircraft gravity；When aircraft enters vertical landing state, engine connection engine spiral It is vertical under the synergy of oar rotation generation lift and the generation of motor drive rotor wing rotation vertically upward lift vertically upward Landing, connects multiple motors on the connecting arm and drives rotor to provide lift vertically upward and aircraft pitching, rolling and partially Operational torque on boat three degree of freedom.

2. a kind of vertical take-off and landing unmanned aerial vehicle as claimed in claim 1, it is characterised in that：Connection on the connecting arm multiple Motor and the multiple rotors being connected on multiple motors can constitute four rotors, six rotors or eight rotors, each rotor and adjacent Another rotor wing rotation it is in opposite direction, the rotary shaft of each rotor incline an angle that 90 degree are less than more than or equal to 0 degree with The operational torque of the balanced engine screw anti-twisted torque that rotation is produced is provided.

3. a kind of vertical take-off and landing unmanned aerial vehicle as claimed in claim 1, it is characterised in that：Connection on the connecting arm multiple Motor and the multiple rotors being connected on multiple motors can constitute coaxial six rotor of three arms, coaxial eight rotor of four arms, six arms and be total to The rotor of axle 12 or coaxial 16 rotor of eight arms, two on each arm electric machine rotational axis are coaxial, two on each linking arm Motor-driven rotor wing rotation is in opposite direction, and each rotor and another adjacent rotor wing rotation are in opposite direction, each rotor Rotary shaft inclines an angle more than or equal to 0 degree less than 90 degree to provide the balanced engine screw anti-twisted power that rotation is produced The operational torque of square.

4. a kind of vertical take-off and landing unmanned aerial vehicle as claimed in claim 1, it is characterised in that：Rotor can fold back, Reduce flight resistance when not working.