CN113071663A

CN113071663A - Tilting wing and fixed wing hybrid unmanned aerial vehicle

Info

Publication number: CN113071663A
Application number: CN202110431031.2A
Authority: CN
Inventors: 刘生鹏; 王雪瑞; 陈佳平; 张一凡; 杨苾妍
Original assignee: Xidian University
Current assignee: Xidian University
Priority date: 2021-04-21
Filing date: 2021-04-21
Publication date: 2021-07-06

Abstract

A tilting-wing and fixed-wing hybrid unmanned aerial vehicle is characterized by comprising: a frame, four fixed wings fixed in four holes in the upper left, lower left, upper right and lower right of the frame, fixed on the frame The four tilting parts in the holes in the four directions of up, down, left, and right, the cover covering the frame, and the central control part embedded in the frame; this design uses fixed wings, tilting The hybrid work of rotors not only retains the advantages of ordinary rotary-wing UAVs that can achieve vertical take-off and landing and hovering in the air, but also solves the problems that ordinary rotary-wing UAVs cannot turn horizontally, the flight trajectory is not easy to precisely control, and they cannot travel at high speed. Through the control of the tilting direction of the tilt rotor by the servo motor, the present invention can obtain high adaptability to various take-off environments. Precise work in a more complex environment.

Description

Tilting wing and fixed wing hybrid unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a tilting wing and fixed wing hybrid unmanned aerial vehicle.

Background

The design of current rotor unmanned aerial vehicle generally adopting fixed rotor adopts the unmanned aerial vehicle of this kind of structure, realizes taking off and hovering through the rotational speed of controlling fixed rotor. To fixed rotor unmanned aerial vehicle's the problem that turns to, generally difficult quilt is solved. The mode that currently adopts the rotation rate of partly fixed rotor to control to make the fuselage lean forward, thereby realize unmanned aerial vehicle's steering. However, the flight state of the unmanned aerial vehicle is changed by the design, and the application of the unmanned aerial vehicle in the direction requiring the body to be stable in carrying and the like is limited. Meanwhile, the fuselage leans forward to increase the resistance that unmanned aerial vehicle received to increase the consumption, reduced the time of endurance. The unmanned aerial vehicle with the fixed rotor wings is improved on the basis of a common unmanned aerial vehicle with the fixed rotor wings and the tilting rotor wings, so that the advantages are kept, and the problems that the unmanned aerial vehicle with the fixed rotor wings cannot horizontally steer, the flight path is difficult to accurately control, and the unmanned aerial vehicle with the fixed rotor wings cannot move forward at a high speed are solved.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a tilt-wing and fixed-wing hybrid unmanned aerial vehicle to solve the problems that the conventional common rotor unmanned aerial vehicle cannot horizontally steer, the flight path is difficult to accurately control and the unmanned aerial vehicle cannot move ahead at high speed.

In order to solve the technical problem, the invention is realized by the following scheme:

the utility model provides a tilt wing, fixed wing hybrid unmanned aerial vehicle which characterized in that includes:

the device comprises a rack, four fixed wings fixed in holes in four directions, namely, left upper, left lower, right upper and right lower, four tilting parts fixed in holes in four directions, namely, right upper, right lower, right left and right upper and lower, a cover covering the rack, and a central control part embedded in the rack;

the fixed wing includes: the direct current brushless motor is fixed on the frame, and the propeller is positioned at the upper part of the direct current brushless motor;

the tilting portion includes: the tilting mechanism comprises a servo motor, a servo motor driving gear connected with the servo motor, a tilting shaft driving gear meshed with the servo motor driving gear, a tilting shaft penetrating through the tilting shaft driving gear, and a rotor wing part positioned in the middle of the tilting shaft;

the rotor portion includes: the motor tilting base is connected with the tilting shaft, the motor is arranged on the upper part of the motor tilting base and connected with the motor tilting base, and the propeller is arranged on the upper part of the motor and connected with the motor tilting base;

preferably, the servo motor is a direct current brushless servo motor.

Preferably, the propeller gradually decreases in thickness from the center line toward both sides of the edge.

Preferably, the cover is fixed to and covers the frame by screws.

Drawings

FIG. 1 is a schematic top perspective view of the present invention;

FIG. 2 is a schematic view of the internal structure of the main body structure of the present invention;

fig. 3 is a schematic view of the internal structure of a portion of a tilt rotor according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

the device comprises a frame 4, four fixed wings 1 fixed in holes in four directions, namely, left upper, left lower, right upper and right lower, of the frame 4, four tilting parts 5 fixed in holes in four directions, namely, right upper, right lower, right left and right upper and lower, of the frame 4, a cover 3 covering the frame, and a central control part embedded in the frame;

the stationary vane 1 includes: the direct current brushless motor is fixed on the frame 4, and the propeller is positioned at the upper part of the direct current brushless motor;

the tilting portion includes: the tilting mechanism comprises a servo motor 9, a servo motor driving gear 8 connected with the servo motor 9, a tilting shaft driving gear 7 meshed with the servo motor driving gear 8, a tilting shaft 6 penetrating through the tilting shaft driving gear 7 and a rotor wing part positioned in the middle of the tilting shaft 6;

the rotor portion includes: the motor tilting base 11 is connected with the tilting shaft 6, the motor is arranged on the upper part of the motor tilting base 11 and connected with the motor tilting base, and the propeller 10 is arranged on the upper part of the motor and connected with the motor tilting base;

preferably, the servo motor 9 is a dc brushless servo motor.

Preferably, the propeller 10 has a thickness gradually decreasing from the center line toward both sides of the edge.

Preferably, the cover 3 is fixed and covered on the frame 4 by screws.

Correspondingly, the invention also provides a use method of the tilt wing and fixed wing hybrid unmanned aerial vehicle, which comprises the following steps:

at unmanned aerial vehicle's the in-process of taking off, the servo motor of four fixed rotors begins work, provides the main lift that unmanned aerial vehicle took off. Four servo motor that vert the rotor begin to work, through the transmission of gear train, make the rotation of the axle that verts, the whole that the axle drive gear that verts drove becomes the horizontality with ground, and four verts the rotor and be parallel state with ground, together provide ascending lift with fixed rotor, realize unmanned aerial vehicle's vertical take-off.

When unmanned aerial vehicle need carry out the air suspension, fixed rotor continues work, and the rotor that verts is the horizontality through servo motor's control and ground. The fixed wing and the rotor that verts provide the required lift of unmanned aerial vehicle jointly, realize hovering in the air.

When unmanned aerial vehicle need turn to, fixed rotor continues work, provides the required lift of unmanned aerial vehicle. The rotation of the servo motor control gear group of the rotor that verts, four vert and take place to vert under the effect of rotor assorted servo motor that vert, make unmanned aerial vehicle obtain with the unmanned aerial vehicle target turn to opposite direction's thrust to realize that unmanned aerial vehicle turns to appointed direction.

At unmanned aerial vehicle's descending in-process, the rotation of the servo motor control gear group that the rotor that verts matches for the certain angle of overall rotation that the axle drive gear that verts drove becomes the horizontality with ground, and is unanimous with fixed rotor direction. Fixed rotor all begins to reduce the rotational speed with the rotor that verts, and unmanned aerial vehicle begins to descend, and after unmanned aerial vehicle accomplished to descend, the screw stall.

If unmanned aerial vehicle need carry out urgent descending, fixed rotor begins to reduce the rotational speed, the rotation of the servo motor control gear group that the rotor that verts matches for the certain angle of overall rotation that the axle drive gear that verts drove makes the rotor that verts provide ascending thrust, thereby realizes unmanned aerial vehicle's urgent descending.

This design is through the mixed work of stationary vane, the rotor that verts, has both kept ordinary rotor unmanned aerial vehicle and can realize the advantage of VTOL and hovering, has solved the unable level of ordinary rotor unmanned aerial vehicle again and has turned to, the flight orbit is difficult for accurate control, can't move ahead at a high speed problem. The tilting direction of the tilting rotor wing is controlled by the servo motor, so that the invention can obtain higher adaptability to various take-off environments, and meanwhile, the invention can accurately control the flight track and flight attitude in the air, so the invention can finish accurate operation in various complicated environments.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. a tilting-wing, fixed-wing hybrid unmanned aerial vehicle, is characterized in that, comprises:

The frame (4) is fixed to the four fixing wings (1) in the four holes in the upper left, lower left, upper right and lower right of the frame (4), and is fixed to the upper, lower and left sides of the frame (4). , the four tilting parts (5) in the holes in the four directions on the right, the cover (3) covering the frame, and the central control part embedded in the frame;

The fixed wing (1) comprises: a DC brushless motor fixed on the frame (4), and a propeller located on the upper part of the DC brushless motor;

The tilting part comprises: a servo motor (9), a servo motor drive gear (8) connected with the servo motor (9), a tilt shaft drive gear (7) engaged with the servo motor drive gear (8), passing through the The tilting shaft (6) of the tilting shaft driving gear (7) is located in the rotor part in the middle of the tilting shaft (6);

The rotor part comprises: a motor tilting base (11) connected with the tilting shaft (6), a motor positioned on the upper part of the motor tilting base (11) and connected with it, and a propeller (11) positioned on the upper part of the motor and connected with it. 10).

2. A tilt-wing and fixed-wing hybrid unmanned aerial vehicle as claimed in claim 1, wherein the servo motor (9) is selected as a DC brushless servo motor.

3 . The hybrid UAV of a tilting wing and a fixed wing according to claim 1 , wherein the thickness of the propeller ( 10 ) gradually decreases from the center line to the extending direction of both sides of the edge. 4 .

4. A tilt-wing and fixed-wing hybrid drone according to claim 1, characterized in that the cover (3) is fixed by screws and covered on the frame (4).