WO2022078092A1 - 一种无人飞行器 - Google Patents

一种无人飞行器 Download PDF

Info

Publication number
WO2022078092A1
WO2022078092A1 PCT/CN2021/115732 CN2021115732W WO2022078092A1 WO 2022078092 A1 WO2022078092 A1 WO 2022078092A1 CN 2021115732 W CN2021115732 W CN 2021115732W WO 2022078092 A1 WO2022078092 A1 WO 2022078092A1
Authority
WO
WIPO (PCT)
Prior art keywords
fuselage
rotor assembly
motor
accommodating cavity
wing
Prior art date
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.)
Ceased
Application number
PCT/CN2021/115732
Other languages
English (en)
French (fr)
Inventor
刘强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
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 Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Priority to EP21879138.2A priority Critical patent/EP4206074B1/en
Publication of WO2022078092A1 publication Critical patent/WO2022078092A1/zh
Priority to US18/191,081 priority patent/US12486054B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/20—Vertical take-off and landing [VTOL] aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • 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
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—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
    • B64C29/0025—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 fixed relative to the fuselage
    • 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
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • 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
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/90—Cooling
    • B64U20/94—Cooling of rotors or rotor motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/90—Cooling
    • B64U20/96—Cooling using air
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/294—Rotors arranged in the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/295—Rotors arranged in the wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/296—Rotors with variable spatial positions relative to the UAV body
    • B64U30/297—Tilting rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
    • B64U40/10—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for adjusting control surfaces or rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C5/00—Stabilising surfaces
    • B64C5/10—Stabilising surfaces adjustable
    • B64C5/16—Stabilising surfaces adjustable about spanwise axes

Definitions

  • the embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular, to an unmanned aerial vehicle.
  • Fixed-wing aircraft have the characteristics of long flight time and long range, but take-off and landing generally require long-distance taxiing runways, so there are greater restrictions on the use environment.
  • Some small fixed-wing aircraft use catapult take-off or hand-thrown take-off and parachute-assisted landing. Although a special runway is not required, a special catapult or a professionally trained operator is required for take-off. Although the parachute can slow down the landing. The impact force of the aircraft landing still causes some damage to the aircraft, which is obviously not an ideal way.
  • the inventor of the present invention found that, in consideration of the heat dissipation problem of the aircraft, the motors that provide the vertical lift screw power system are all exposed. It produces a lot of flight resistance, which affects the flight time.
  • the embodiments of the present invention aim to provide an unmanned aerial vehicle, which can reduce the flight resistance caused by the exposed motor, and can also ensure the heat dissipation effect of the motor, so as to improve the flight time performance of the aircraft.
  • an unmanned aerial vehicle comprising: a fuselage, which is provided with a first accommodating cavity and a second accommodating cavity, wherein the first accommodating cavity and the The positions of the second accommodating chambers are different;
  • a first wing arranged on one side of the fuselage
  • the second wing is arranged on the other side of the fuselage
  • a first rotor assembly mounted on the first wing, and the first rotor assembly is rotatable relative to the fuselage;
  • a second rotor assembly mounted on the second wing, and the second rotor assembly is rotatable relative to the fuselage;
  • the third rotor assembly includes a third motor and a third propeller connected to the third motor, the third motor is installed in the first accommodating cavity and partially exposed to the fuselage;
  • a fourth rotor assembly comprising a fourth motor and a fourth propeller connected to the fourth motor, the fourth motor is installed in the second accommodating cavity and partially exposed to the fuselage;
  • the main control board is fixed on the fuselage, and the main control board is respectively connected with the first rotor assembly, the second rotor assembly, the third rotor assembly and the fourth rotor assembly.
  • the third rotor assembly further includes a first mount, the first mount is embedded in the corresponding first accommodating cavity, and the third motor is mounted on the first mount seated and partially exposed to the fuselage;
  • the fourth rotor assembly further includes a second mounting seat, the second mounting seat is embedded in the corresponding second accommodating cavity, and the fourth motor is mounted on the second mounting seat and partially exposed to the outside. described fuselage.
  • a first ventilation hole is provided at a position corresponding to the first accommodating cavity on the bottom of the fuselage, and the first ventilation hole communicates with the first accommodating cavity;
  • a second ventilation hole is provided at a position corresponding to the second accommodating cavity at the bottom of the fuselage, and the second ventilation hole communicates with the second accommodating cavity.
  • the first mounting seat is provided with a first heat dissipation hole, the first heat dissipation hole is communicated with the first accommodating cavity, the second mounting seat is provided with a second heat dissipation hole, the The second heat dissipation hole communicates with the second accommodating cavity.
  • the first rotor assembly includes a first motor and a first propeller connected to the first motor, the first motor mounted on the first wing;
  • the second rotor assembly includes a second motor and a second propeller connected to the second motor, and the second motor is mounted on the second wing.
  • the first wing includes a first wing body and a first wing tip, one end of the first wing body is connected to one side of the fuselage, and the first wing tip may be is tiltably connected to the other end of the first wing body, and the first rotor assembly is fixed to the first wing tip;
  • the unmanned aerial vehicle further includes a first tilting motor, the first tilting motor is connected to the main control board, and the first tilting motor is used to drive the first wingtip to go around the first aircraft.
  • the wing body rotates.
  • the second wing includes a second wing body and a second wing tip
  • One end of the second wing body is mounted on one side of the fuselage, the second wing tip is rotatably mounted on the other end of the second wing body, and the second rotor assembly is fixed to the the second wingtip;
  • the unmanned aerial vehicle further includes a second tilt motor, the second tilt motor is connected to the main control board, and the second tilt motor is used to drive the second wingtip to go around the second aircraft.
  • the wing body rotates.
  • the UAV further includes an empennage mounted on the tail of the fuselage, and the empennage is rotatable about a second pitch axis of the fuselage.
  • the tail includes a first tail and a second tail, the first tail is mounted on one side of the tail of the fuselage, and the second tail is mounted on the other side of the tail of the fuselage , the first tail and the second tail can both rotate around the fuselage.
  • the UAV includes a first angle adjustment mechanism and a second angle adjustment mechanism, the first angle adjustment mechanism and the second angle adjustment mechanism are both fixed to the fuselage, and the first angle adjustment mechanism and the second angle adjustment mechanism are both fixed to the fuselage. Both an angle adjustment mechanism and the second angle adjustment mechanism are connected to the main control board;
  • the first adjustment mechanism is used to adjust the angle between the first tail fin and the fuselage
  • the second adjustment mechanism is used to adjust the angle between the second tail fin and the fuselage
  • the third motor and the fourth motor are partially exposed on the fuselage, so that when the unmanned aerial vehicle is vertically lifted or hovered, the heat of the third motor and the fourth motor is reduced. It can be emitted by itself, and at the same time, when the UAV is in fixed-wing level flight, the flight resistance can be reduced, thereby improving the flight performance of the aircraft.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • Fig. 2 is the installation schematic diagram of the third rotor assembly and the fourth rotor assembly in the unmanned aerial vehicle shown in Fig. 1;
  • Fig. 3 is the schematic diagram of the structure of the third rotor assembly in the unmanned aerial vehicle shown in Fig. 1;
  • FIG. 4 is a schematic structural diagram of a first ventilation hole and a second ventilation hole in the unmanned aerial vehicle shown in FIG. 1;
  • Fig. 5 is the exploded schematic diagram of the fourth rotor assembly in the unmanned aerial vehicle shown in Fig. 1;
  • Fig. 6 is the structural representation of the first angle adjustment mechanism in the unmanned aerial vehicle shown in Fig. 1;
  • Fig. 7 is the schematic diagram that the unmanned aerial vehicle shown in Fig. 1 is in the vertical lift flight attitude;
  • FIG. 8 is a schematic diagram of the unmanned aerial vehicle shown in FIG. 1 in a climbing flight attitude
  • FIG. 9 is a schematic diagram of the unmanned aerial vehicle shown in FIG. 1 in a diving flight attitude.
  • the UAV 100 includes a fuselage 10 , a first wing 20 , a second wing 30 , a first rotor assembly 40 , a second rotor assembly 50 , a third rotor assembly 60 , and a fourth rotor assembly 70, the tail 80 and the main control board (not shown).
  • the first wing 20 and the second wing 30 are symmetrically disposed on the left and right sides of the fuselage 10 , the first rotor assembly 40 is mounted on the first wing 30 , and the first The rotation axis O1 of the rotor assembly 40 is rotatable relative to the first pitch axis y1 of the fuselage 10 , the second rotor assembly 50 is mounted on the second wing 30 , and the rotation of the second rotor assembly 50
  • the axis O2 is rotatable relative to the first pitch axis y1 of the fuselage 10, the third rotor assembly 60 is mounted on the first position of the fuselage 10, and the fourth rotor assembly 70 is mounted on the fuselage 10, the second position does not coincide with the first position, and the rotation axis O3 of the third rotor assembly 60 and the rotation axis O4 of the fourth rotor assembly 70 are both perpendicular to the fuselage 10 the roll axis x, the tail 80 is mounted on the tail of the fuselage 10, and the
  • first rotor assembly 40 and the second rotor assembly 50 are symmetrically arranged on both sides of the fuselage 10 .
  • the third rotor assembly 60 and the fourth rotor assembly 70 are located on both sides of the first wing 20, respectively, or the third rotor assembly 60 and the fourth rotor assembly 70 are located on the second Both sides of the wing 30.
  • the unmanned aerial vehicle can be adjusted to adjust the flight attitude during the flight.
  • the unmanned The aircraft 100 can vertically lift and hover through the first rotor assembly 40 , the second rotor assembly 50 , the third rotor assembly 60 and the fourth rotor assembly 70 .
  • the UAV 100 can pass the first rotor assembly 40 and the second rotor assembly 50 .
  • the assembly 50 performs fixed-wing flight, and during the flight of the unmanned aerial vehicle, the flying attitude of the unmanned aerial vehicle 100 can be adjusted by adjusting the tilt angle of the tail 80 .
  • the unmanned aerial vehicle has a roll axis x, a first pitch axis y1, a pan axis z, and a second pitch axis y2.
  • the roll axis x, the first pitch axis y1, and the pan axis z are perpendicular to each other, and the first pitch axis y1 is parallel to the second pitch axis y2, wherein the roll axis x, the first pitch axis y1, and the pan axis
  • Both z and the second pitch axis y2 are virtual straight lines defined by the embodiments of the present application for convenience of description.
  • the unmanned aerial vehicle When taking off and landing vertically, the unmanned aerial vehicle basically takes off and land along the heading axis z, when the unmanned aerial vehicle is in continuous flight, it basically flies along the roll axis x, and when the unmanned aerial vehicle is pitching back and forth, it basically rotates along the first pitch axis y1.
  • the fact that the tail 80 can rotate around the second pitch axis y2 of the fuselage means that on the premise that the plane where the tail is located intersects the plane where the roll axis x of the fuselage is located, the plane where the tail is located is around the plane where the tail is located and The intersection line of the plane where the fuselage is located rotates clockwise or counterclockwise.
  • the body 10 is provided with an accommodating cavity (not shown), and the main control board is fixed and accommodated in the accommodating cavity.
  • the top of the body 10 is provided with a first opening 110 and a second opening 120, the first opening 110 is provided at the first position of the body 10, and the second opening 120 is provided at the In the second position, the first opening 110 and the second opening 120 are arranged at intervals along the extending direction of the roll axis x of the fuselage 10 , and the first opening 110 and the second opening 120 are both connected to the container.
  • the first opening 110 is used for exposing the third rotor assembly 60, and at the same time, the first opening is also used for the wires of the main control board to pass through, so that the third rotor assembly 60 can pass through.
  • the second opening 120 is used for exposing the fourth rotor assembly 70, and at the same time, the first opening is also used for the wires of the main control board to pass through so that the The third rotor assembly 60 is electrically connected to the main control board.
  • a third opening (not shown in the figure) and a fourth opening (not shown in the figure) are oppositely provided on both sides of the body 10, and the third opening and the fourth opening are both connected to the accommodating cavity, so the The third opening is used for the wires of the main control board to pass through so that the first rotor assembly 30 is electrically connected to the main control board, and the fourth opening is used for the wires of the main control board to pass through. so that the second rotor assembly 40 is electrically connected to the main control board.
  • a fifth opening (not shown) and a sixth opening (not shown) are oppositely provided on both sides of the rear of the fuselage 10, and both the fifth opening and the sixth opening communicate with the accommodating cavity, Both the fifth opening and the sixth opening are used to install the tail fin 80 .
  • the manner in which the main control board is installed on the fuselage 10 is not limited to the aforementioned manner, and may also be other manners, such as:
  • the accommodating cavity includes a first accommodating cavity and a second accommodating cavity, the first accommodating cavity communicates with the first opening 110 , and the second accommodating cavity and the second accommodating cavity
  • the opening 120 communicates with each other, a part of the third rotor assembly 60 is installed in the first accommodating cavity, and the other part protrudes from the first opening 110 , and a part of the fourth rotor assembly 70 is installed in the second accommodating cavity. is placed in the cavity, and the other part protrudes from the second opening 120 .
  • the main control board can be installed in the first accommodating cavity or the second accommodating cavity, and a communication hole is provided between the first accommodating cavity and the second accommodating cavity, and the Both the third opening and the fourth opening communicate with the communication hole.
  • the main control board When the main control board is installed in the first accommodating cavity, the main control board communicates with the communication hole through the communication hole.
  • the fourth rotor assembly 70 in the second accommodating cavity is connected.
  • the main control board is connected to the third rotor assembly 60 located in the first accommodating cavity through the communication hole.
  • the first accommodating cavity and the second accommodating cavity may be divided by the main control board, that is, when the main control board is installed in the accommodating cavity When inside, the main control board divides the accommodating cavity into the first accommodating cavity and the second accommodating cavity, and the two surfaces of the main control board are respectively connected with the third rotor assembly 60 connected with the fourth rotor assembly 70, at this time, the third opening and the fourth opening can also be communicated with the first accommodating cavity, or the third opening and the fourth opening Both are communicated with the second accommodating cavity, and the main control board is connected to the first rotor assembly and the second rotor assembly through the third opening and the fourth opening.
  • the accommodating cavity includes a first accommodating cavity and a second accommodating cavity, the first accommodating cavity communicates with the first opening 110, and the second accommodating cavity and the second accommodating cavity
  • the opening 120 communicates with each other, a part of the third rotor assembly 60 is installed in the first accommodating cavity, and the other part protrudes from the first opening 110 , and a part of the fourth rotor assembly 70 is installed in the second accommodating cavity. is placed in the cavity, and the other part protrudes from the second opening 120 .
  • the main control board is installed on the outer surface of the fuselage 10 , and the main control board is connected to the first rotor assembly 40 , the second rotor assembly 50 , the third rotor assembly 60 and the fourth rotor assembly 60 .
  • the rotor assembly 70 is wirelessly connected, or the wires connected between the main control board and the first rotor assembly 40, the second rotor assembly 50, the third rotor assembly 60 and the fourth rotor assembly 70 are all arranged in the the exterior of the fuselage.
  • a protection device is provided on the outside of the body, and the protection device is used to protect the main control board and the wires, so as to prevent the main control board and the wires from being directly exposed and easily damaged.
  • the accommodating cavity includes a first accommodating cavity, a second accommodating cavity and a third accommodating cavity, the first accommodating cavity communicates with the first opening 110, and the second accommodating cavity
  • the cavity communicates with the second opening 120
  • the third rotor assembly 60 is partially installed in the first accommodating cavity, and partially protrudes from the first opening 110
  • the fourth rotor assembly 70 is partially installed in the second accommodating cavity and partially protruding from the second opening 120
  • the main control board is installed in the third accommodating cavity
  • the third opening and the fourth opening are communicates with the third accommodating cavity.
  • a communication hole is provided between the third accommodating cavity, the first accommodating cavity and the second accommodating cavity, through which the main control board communicates with the third rotor assembly 60 and the The fourth rotor assembly 70 is connected.
  • the main control board can be connected to the Connection of the first rotor assembly 40 and the second rotor assembly 50 .
  • the first wing 20 and the second wing 30 form a cross with the fuselage 10
  • the third rotor assembly 60 and the fourth rotor assembly 70 are located in the On the body
  • the first rotor assembly 40 and the second rotor assembly 50 are located on the first wing 20 and the second wing 30 respectively.
  • the second rotor assembly 50, the third rotor assembly 60 and the fourth rotor assembly 70 are connected.
  • the main control board is installed at the position of the cross.
  • the main control board is also located at the position of the cross.
  • the main control board can also be installed at any position of the accommodating cavity, as long as it is ensured that the main control board divides the accommodating cavity into the first accommodating cavity and the second accommodating cavity. Yes, there is no restriction on this application.
  • the accommodating cavity including a first accommodating cavity and a second accommodating cavity as an example.
  • the first accommodating cavity and the second accommodating cavity are both installation spaces enclosed and formed by the casing of the fuselage 10 .
  • the first wing 20 includes a first wing body 210 and a first wing tip 220 .
  • One end of the first wing body 210 is mounted on the left side of the fuselage 10
  • the first wing tip 220 is tiltably mounted on the other end of the first wing body 210
  • the first rotor assembly 40 It is fixed on the first wingtip 220 .
  • a first axial space (not shown) is provided in the first wing body 210, and the first axial space is communicated with the third opening, wherein the first axial space is used for The wires of the main control board are passed through, so that the first rotor assembly 40 is electrically connected to the main control board.
  • the mechanism for driving the first wingtip 220 to tilt relative to the first wing body 210 may be any mechanism, for example, the UAV 100 further includes a first tilting motor (not shown).
  • the first tilt motor is installed in the first axial space and connected to the main control board, the first wingtip 220 is connected to the rotating shaft of the first tilt motor, and the first tilt motor
  • the rotary motor is used to drive the first wing tip 220 to tilt relative to the first wing body 210 .
  • the second wing 30 includes a second wing body 310 and a second wing tip 320 .
  • One end of the second wing body 310 is mounted on the right side of the fuselage 10
  • the second wing tip 320 is rotatably mounted on the other end of the second wing body 310
  • the second rotor assembly 50 is fixed to the second wingtip 320 .
  • a second axial space is provided in the second wing body 310, and the second axial space is communicated with the fourth opening, wherein the second axial space is used for the The wires of the main control board are passed through, so that the second rotor assembly 50 is electrically connected to the main control board.
  • the mechanism for driving the second wing tip 320 to tilt relative to the second wing body 310 may be any mechanism, for example, the UAV 100 further includes a second tilt motor (not shown).
  • the second tilt motor is installed in the second axial space and connected to the main control board, the second wingtip 320 is connected to the rotating shaft of the second tilt motor, and the second tilt motor
  • the rotary motor is used to drive the second wing tip 320 to tilt relative to the second wing body 310 .
  • the first rotor assembly 40 includes a first motor 410 and a first propeller 420 connected to the rotating shaft of the first motor 410.
  • the first motor 410 is fixed to the first wingtip 220, and the first The motor 410 is used to drive the first propeller 420 to rotate to provide power for the unmanned aerial vehicle 100 .
  • the rotation axis O1 of the first rotor assembly 40 is the rotation axis of the first motor 410 .
  • the second rotor assembly 50 includes a second motor 510 and a second propeller 520 connected to the rotating shaft of the second motor 510.
  • the second motor 510 is fixed to the second wingtip 320, and the second The motor 510 is used to drive the second propeller 520 to rotate to provide power for the UAV 100 .
  • rotation axis O2 of the second rotor assembly 50 is the rotation axis of the second motor 510 .
  • the third rotor assembly 60 includes a third motor 610 and a third propeller 620 connected to the rotating shaft of the third motor 610.
  • the third motor 610 is installed in the first accommodating cavity and partially passes through the The first opening 110 is exposed to the fuselage 10 , the rotation axis of the third motor 610 is perpendicular to the roll axis x of the fuselage 10 , and the third motor 610 is used to drive the third propeller 620 to rotate, which is Unmanned aerial vehicle 100 provides power.
  • rotation axis O3 of the third rotor assembly 60 is the rotation axis of the third motor 610 .
  • the third rotor assembly 60 further includes a first mounting seat 630 , the first mounting seat 630 is embedded in the corresponding first accommodating cavity and covered with the The first opening 110 , the third motor 610 is fixed to the first mounting seat 630 and partially exposed to the body 10 , so that the heat of the third motor 610 can pass through itself and the first mounting seat 630 Emitted into the air.
  • the first mounting seat 630 is made of a metal material with good thermal conductivity, and the airflow generated by the third propeller 620 passes through the first mounting seat 630 .
  • the first mounting seat 630 is provided with a first heat dissipation hole 631 , and the first heat dissipation hole 631 communicates with the first heat dissipation hole 631 .
  • An accommodating cavity, the bottom of the body 10 is provided with a first ventilation hole 130 at a position corresponding to the first accommodating cavity, and the first ventilation hole 130 communicates with the first accommodating cavity.
  • the first accommodating cavity is communicated with the outside through the first ventilation hole 130 , which improves the heat exchange rate and promotes the heat dissipation of the third motor 610 .
  • the rotation axis O3 of the third rotor assembly 60 is perpendicular to the roll axis x of the fuselage 10 , the first opening 110 communicates with the first accommodating cavity, and the first opening 110
  • the first ventilation hole 130 is disposed on the front of the first opening 110
  • the first ventilation hole 130 can be arranged at any position on the bottom of the fuselage 10, as long as the first ventilation hole 130 is ensured to communicate with the first accommodating cavity, and this application does not make any limit.
  • the bottom of the fuselage 10 is provided with an inclined surface, and the first ventilation hole 130 is provided on the inclined surface, so that the first ventilation hole 130 can be enlarged under the condition of the same cross section. aperture, thereby enhancing the heat dissipation effect.
  • the number of the first heat dissipation holes 631 may be multiple, and the plurality of the first heat dissipation holes 631 are evenly distributed on the first mounting seat 630 .
  • the fourth rotor assembly 70 includes a fourth motor 710 and a fourth propeller 720 connected with the rotating shaft of the fourth motor 710.
  • the fourth motor 710 is installed in the second accommodating cavity and partially passes through the The second opening 120 is exposed to the fuselage 10 , the rotation axis of the fourth motor 710 is perpendicular to the roll axis x of the fuselage 10 , the fourth motor 710 is used to drive the fourth propeller 720 to rotate, and is unmanned Aircraft 01 provides power.
  • rotation axis O4 of the fourth rotor assembly 70 is the rotation axis of the fourth motor 710 .
  • the fourth rotor assembly 70 further includes a second mounting seat 730 , and the second mounting seat 730 is embedded in the corresponding second accommodating cavity and covers the The second opening 120 , the fourth motor 710 is fixed to the second mounting seat 730 and partially exposed to the body 10 , so that the heat of the fourth motor 710 can pass through itself and the second mounting seat 730 Emitted into the air.
  • the second mounting seat 730 is made of a metal material with good thermal conductivity, and the airflow generated by the fourth propeller 720 passes through the second mounting seat 730 .
  • the second mounting seat 730 is provided with a second heat dissipation hole 731, and the second heat dissipation hole 731 communicates with the second accommodating cavity
  • a second ventilation hole 140 is provided on the bottom of the body 10 at a position corresponding to the second accommodating cavity, and the second ventilation hole 140 communicates with the second accommodating cavity.
  • the second accommodating cavity communicates with the outside through the second ventilation hole 140 , so as to improve the heat exchange rate and promote the heat dissipation of the fourth motor 710 .
  • the rotation axis O4 of the fourth rotor assembly 70 is perpendicular to the roll axis x of the fuselage 10 , and the second opening 120 communicates with the second accommodating cavity, and the second opening 120 is used to expose part of the fourth motor 710 to the body 10 .
  • the second ventilation hole 140 is disposed in the second opening 120
  • the second ventilation hole 140 can be arranged at any position on the bottom of the fuselage 10, as long as the second ventilation hole 140 is ensured to communicate with the second accommodating cavity. No restrictions apply.
  • the number of the second heat dissipation holes 731 may be multiple, and the plurality of the first heat dissipation holes 731 are evenly distributed on the second mounting seat 730 .
  • the first ventilation hole 130 and the second ventilation hole 140 are provided with an air intake grille, and the air intake grille is used to prevent the sundries carried by the outside air from entering the accommodating cavity, Thus, the stable performance of the main control board and other electrical components (not shown) in the accommodating cavity is guaranteed.
  • the third motor 610 and the fourth motor 710 can reduce the flight resistance and improve the endurance of the aircraft when the UAV of the embodiment of the present application is flying with fixed wings.
  • the unmanned aerial vehicle can also ensure the heat dissipation of the third motor 610 and the fourth motor 710 when the UAV vertically lifts or hovers.
  • the ratio of the length of the third motor exposed outside the fuselage 10 to the total length of the third motor may be 5%, 10%, 20%, 30%, 40%, 50% or 60%.
  • the tail 80 includes a first tail 810 and a second tail 820 .
  • the first tail fin 810 is installed on the left side of the tail of the fuselage 10
  • the second tail fin 820 is installed on the right side of the tail of the fuselage 10 , wherein both the first tail fin 810 and the second tail fin 820 are It can be rotated around the second pitch axis y2 of the fuselage 10 so as to adjust the flying attitude of the unmanned aerial vehicle during the flight.
  • the mechanism for driving the first tail 810 to rotate relative to the second pitch axis y2 of the fuselage 10 can be any mechanism, for example, the UAV 100 further includes a first angle adjustment mechanism 150.
  • the first angle adjustment mechanism 150 is fixed and accommodated at the tail of the fuselage 10 , and the first angle adjustment mechanism 150 is used to adjust the angle between the first tail 810 and the fuselage 10 .
  • the first angle adjustment mechanism 150 includes a first adjustment motor 151 and a first connection shaft 152 .
  • the first adjusting motor 151 is fixed to the rear of the fuselage 10 and is connected to the main control board. One end of the first connecting shaft 152 is connected to the rotating shaft of the first adjusting motor 151 .
  • the other end of the connecting shaft 152 is fixed on the first tail fin 810 , and the first adjusting motor 151 is used to drive the first tail fin 810 to rotate around the second pitch axis y2 of the fuselage 10 to realize the first tail fin 810 The angle between the fuselage 10 and the fuselage 10 is adjusted.
  • the mechanism for driving the second tail 820 to rotate relative to the second pitch axis y2 of the fuselage 10 may be a gear transmission mechanism, a worm gear mechanism, etc., which is not limited in this application.
  • the UAV further includes a second angle adjustment mechanism (not shown).
  • the second angle adjustment mechanism is fixed and accommodated at the tail of the fuselage 10 , and the second angle adjustment mechanism is used to adjust the angle between the second tail 820 and the fuselage 10 .
  • the second angle adjustment mechanism includes a second adjustment motor (not shown), an external gear (not shown) and an internal gear (not shown).
  • the second adjusting motor is fixed on the tail of the fuselage and connected with the main control board, the external gear is sleeved on the rotating shaft of the second adjusting motor, the internal gear is fixed on the first tail wing, and the external gear is inserted and meshed with the internal gear,
  • the second adjustment motor is used to drive the second tail to rotate around the second pitch axis y2 of the fuselage 10 , so as to realize the angle adjustment between the second tail 820 and the fuselage 10 .
  • first angle adjustment mechanism and the second angle adjustment mechanism may be the same or different, and this application does not make any limitation.
  • take-off and landing buffers are provided on the first wing 20 , the second wing 30 and the tail 80 , which can reduce the collision of the unmanned aerial vehicle and reduce the maintenance cost.
  • the first propeller, the second propeller, the third propeller and the fourth propeller are all made of carbon fiber, and the inside of the propellers is filled with foam.
  • the propellers are light in weight, strong enough, and can absorb Vibration of the propeller.
  • the first tilt motor and the second tilt motor drive the first wingtip 220 and the second wingtip 320 to rotate to the vertical mode, respectively.
  • the first motor 410 , the second motor 510 , the third motor 610 and the fourth motor 710 provide pulling force together to overcome the gravity of the UAV 100 to realize vertical take-off and landing and hovering in the air.
  • the above vertical mode means that the rotation axis O1 of the first rotor assembly and the rotation axis O2 of the second rotor assembly are perpendicular to the fuselage 10 .
  • the first tilt motor and the second tilt motor respectively drive the first wing tip 220 and the second wing tip 320 to rotate together to the horizontal mode.
  • the third propeller 620 and the fourth propeller 720 disposed on the rotating shaft of the fourth motor 710 provide power to overcome the resistance of the UAV 100 when flying.
  • the above-mentioned horizontal mode means that the rotation axis O1 of the first rotor assembly and the rotation axis O2 of the second rotor assembly are parallel to the fuselage 10 .
  • the pitch control and forward and backward flight of the unmanned aerial vehicle 100 can be realized; by controlling the rotational speed of the first motor 410 and the The rotation speed of the second motor 510 can realize the roll control and left-right flight of the UAV 100; and the first tail fin 810 is rotated by the first adjusting motor, and the second tail fin 820 is rotated by the second adjusting motor 1211, so that the first tail fin 810 and the An angle difference is formed between the second tail fins 820, so that the heading control of the unmanned aerial vehicle 100 can be realized.
  • the heat of the third motor and the fourth motor can be dissipated to the fuselage when the unmanned aerial vehicle vertically lifts or hovers.
  • the flight resistance can be reduced, thereby improving the flight time performance of the aircraft.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Toys (AREA)

Abstract

一种无人飞行器（100），包括：机身（10），设置有第一容置腔和第二容置腔；设于机身两侧的第一机翼（20）和第二机翼（30）；第一旋翼组件（40），安装于第一机翼（20），第一旋翼组件（40）可相对于机身（10）转动；第二旋翼组件（50），安装于第二机翼（30），第二旋翼组件（50）可相对于机身（10）转动；第三旋翼组件（60），包括第三电机（610）及与第三电机（610）相连的第三螺旋桨（620），第三电机（610）安装于第一容置腔并部分外露于机身（10）；第四旋翼组件（70），包括第四电机（710）及与第四电机（710）相连的第四螺旋桨（720），第四电机（710）安装于第二容置腔并部分外露于机身（10）。

Description

一种无人飞行器
本申请要求于2020年10月16日提交中国专利局、申请号为2020111096484、申请名称为“一种无人飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明实施例涉及无人机技术领域，尤其涉及一种无人飞行器。
背景技术
固定翼飞行器具有飞行时间长和航程远的特点，但是起飞和降落一般需要进行长距离滑行的跑道，因此对使用环境有较大的限制。某些小型固定翼飞行器采用了弹射起飞或手抛起飞，降落伞辅助降落的方式，虽然不需要专门的跑道，但是起飞时需要专门的弹射器或者经过专业训练的操作人员，降落时虽然降落伞能够减缓飞行器落地的冲击力，仍然对飞行器有一定的损伤，显然也不是理想的方式。
为了解决飞行器所存在的上述问题，目前，出现同时具有水平和垂直方向的两套螺旋动力系统的飞行器。而在起飞和降落时，垂直升力螺旋动力系统旋转，产生向上的升力，而水平方向飞行时，可以通过水平螺旋动力系统，提供水平方向的飞行力，实现水平飞行。
本发明的发明人在实现本发明的过程，考虑到飞行器的散热问题，发现：提供垂直升降螺旋动力系统的电机都是裸露在外的，这在飞行器实现水平飞行(即固定翼飞行)时，会产生很大的飞行阻力，影响了飞行时间。
发明内容
本发明实施例旨在提供一种无人飞行器，能降低电机裸露带来的飞行阻力，还能保障电机的散热效果，以提升了飞行器的航时性能。
本发明实施例解决其技术问题采用以下技术方案：提供一种无人飞行器，包括：机身，设置有第一容置腔和第二容置腔，其中，所述第一容置腔与所述第二容置腔的位置不同；
第一机翼，设置于所述机身的一侧；
第二机翼，设置于所述机身的另一侧；
第一旋翼组件，安装于所述第一机翼，并且所述第一旋翼组件可相对于所述机身转动；
第二旋翼组件，安装于所述第二机翼，并且所述第二旋翼组件可相对于所述机身转动；
第三旋翼组件，包括第三电机及与所述第三电机相连的第三螺旋桨，所述第三电机安装于所述第一容置腔并部分外露于所述机身；
第四旋翼组件，包括第四电机及与所述第四电机相连的第四螺旋桨，所述第四电机安装于所述第二容置腔并部分外露于所述机身；
主控板，固定于所述机身，并且所述主控制板分别与所述第一旋翼组件、所述第二旋翼组件、所述第三旋翼组件及所述第四旋翼组件连接。
在一些实施例中，所述第三旋翼组件还包括第一安装座，所述第一安装座内嵌于对应的所述第一容置腔，所述第三电机安装于所述第一安装座且部分外露于所述机身；
所述第四旋翼组件还包括第二安装座，所述第二安装座内嵌于对应的所述第二容置腔，所述第四电机安装于所述第二安装座且部分外露于所述机身。
在一些实施例中，所述机身的底部与所述第一容置腔相对应的位置设有第一通风孔，所述第一通风孔连通所述第一容置腔；
所述机身的底部与所述第二容置腔相对应的位置设有第二通风孔，所述第二通风孔连通所述第二容置腔。
在一些实施例中，所述第一安装座设置有第一散热孔，所述第一散热孔与所述第一容置腔连通，所述第二安装座设置有第二散热孔，所述第二散热孔与所述第二容置腔连通。
在一些实施例中，所述第一旋翼组件包括第一电机及与所述第一电 机相连的第一螺旋桨，所述第一电机安装于所述第一机翼；
所述第二旋翼组件包括第二电机及与所述第二电机相连的第二螺旋桨，所述第二电机安装于所述第二机翼。
在一些实施例中，所述第一机翼包括第一机翼主体和第一翼尖，所述第一机翼主体的一端连接于所述机身的一侧，所述第一翼尖可倾转地连接于所述第一机翼主体的另一端，所述第一旋翼组件固定于所述第一翼尖；
所述无人飞行器还包括第一倾转电机，所述第一倾转电机与所述主控板连接，所述第一倾转电机用于驱动所述第一翼尖绕所述第一机翼主体转动。
在一些实施例中，所述第二机翼包括第二机翼主体和第二翼尖；
所述第二机翼主体的一端安装于所述机身的一侧，所述第二翼尖可转动地安装于所述第二机翼主体的另一端，所述第二旋翼组件固定于所述第二翼尖；
所述无人飞行器还包括第二倾转电机，所述第二倾转电机与所述主控板连接，所述第二倾转电机用于驱动所述第二翼尖绕所述第二机翼主体转动。
在一些实施例中，所述无人飞行器还包括尾翼，所述尾翼安装于所述机身的尾部，并且所述尾翼可绕所述机身的第二俯仰轴转动。
在一些实施例中，所述尾翼包括第一尾翼和第二尾翼，所述第一尾翼安装于所述机身的尾部一侧，所述第二尾翼安装于所述机身的尾部另一侧，所述第一尾翼与所述第二尾翼皆可绕所述机身转动。
在一些实施例中，所述无人飞行器包括第一角度调节机构和第二角度调节机构，所述第一角度调节机构和所述第二角度调节机构均固定于所述机身，所述第一角度调节机构和所述第二角度调节机构均与所述主控板连接；
所述第一调节机构用于调节所述第一尾翼与所述机身之间的角度，所述第二调节机构用于调节所述第二尾翼与所述机身之间的角度。
本发明的有益效果：
本发明实施例提供的一种无人飞行器，通过使第三电机和第四电机部分裸露于所述机身，使得无人飞行器在垂直升降或悬停时，第三电机和第四电机的热量可以通过自身散发，同时，无人飞行器在固定翼平飞时，可以降低了飞行阻力，从而提升了飞行器的航时性能。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明实施例提供的一种无人飞行器的结构示意图；
图2是图1所示的无人飞行器中的第三旋翼组件和第四旋翼组件的安装示意图；
图3是图1所示的无人飞行器中的第三旋翼组件的结构的示意图；
图4是图1所示的无人飞行器中第一通风孔和第二通风孔的结构示意图；
图5是图1所示的无人飞行器中第四旋翼组件的爆炸示意图；
图6为图1所示的无人飞行器中第一角度调节机构的结构示意图；
图7为图1所示的无人飞行器处于垂直升降飞行姿态的示意图；
图8为图1所示的无人飞行器处于攀升航行飞行姿态的示意图；
图9为图1所示的无人飞行器处于俯冲航行飞行姿态的示意图。
具体实施方式
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“垂直的”、“横向的”等指示的方位或 位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请参阅图1，所述无人飞行器100包括机身10、第一机翼20、第二机翼30、第一旋翼组件40、第二旋翼组件50、第三旋翼组件60、第四旋翼组件70、尾翼80及主控板(图未示)。
所述第一机翼20与所述第二机翼30对称设置于所述机身10的左右两侧，所述第一旋翼组件40安装于所述第一机翼30，并且所述第一旋翼组件40的转动轴O1可相对于所述机身10的第一俯仰轴y1转动，所述第二旋翼组件50安装于所述第二机翼30，并且所述第二旋翼组件50的转动轴O2可相对于所述机身10的第一俯仰轴y1转动，所述第三旋翼组件60安装于所述机身10的第一位置，所述第四旋翼组件70安装于所述机身10的第二位置，所述第二位置与所述第一位置不重合，并且所述第三旋翼组件60的转动轴O3与所述第四旋翼组件70的转动轴O4均垂直于机身10的横滚轴x，所述尾翼80安装于所述机身10的尾部，并且所述尾翼80可相对于机身10的第二俯仰轴y2转动，所述主控板固定于所述机身，所述主控板分别与所述第一旋翼组件40、所述第二旋翼组件50、所述第三旋翼组件60以及所述第四旋翼组件70连接。
可以理解，所述第一旋翼组件40和所述第二旋翼组件50对称设置于所述机身10的两侧。所述第三旋翼组件60和所述第四旋翼组件70 分别位于所述第一机翼20的两侧，或者所述第三旋翼组件60和所述第四旋翼组件70分别位于所述第二机翼30的两侧。
通过所述第一机翼20、所述第二机翼30、所述第一旋翼组件40、所述第二旋翼组件50、所述第三旋翼组件60、所述第四旋翼组件70的组合，保证了无人飞行器垂直起降和固定翼飞行时所需的动力，通过尾翼80的调节，可以调整无人飞行器在飞行过程中调整飞行姿态。
当所述第一旋翼组件40、所述第二旋翼组件50、所述第三旋翼组件60和所述第四旋翼组件70的转动轴O4均垂直于所述机身10时，所述无人飞行器100可以通过所述第一旋翼组件40、所述第二旋翼组件50、所述第三旋翼组件60和所述第四旋翼组件70实现垂直升降和悬停。当所述第一旋翼组件40和所述第二旋翼组件50的转动轴O2平行于所述机身10时，所述无人飞行器100可以通过所述第一旋翼组件40和所述第二旋翼组件50进行固定翼飞行，并且在无人飞行器的飞行过程中，通过调节尾翼80的倾转角度，即可调整无人飞行器100的飞行姿态。
需要说明的是：无人飞行器具有横滚轴x、第一俯仰轴y1、航向轴z及第二俯仰轴y2。横滚轴x、第一俯仰轴y1以及航向轴z三者中两两相互垂直，第一俯仰轴y1与第二俯仰轴y2平行，其中，横滚轴x、第一俯仰轴y1、航向轴z以及第二俯仰轴y2均为本申请实施例方便描述而定义的虚拟直线。无人飞行器在垂直起降时，基本沿航向轴z起降，无人飞行器在续航飞行时，基本沿横滚轴x飞行，无人飞行器在前后俯仰时，基本沿第一俯仰轴y1转动。
另外，所述尾翼80可绕机身的第二俯仰轴y2转动是指在尾翼所处平面与机身的横滚轴x所处平面相交的前提下，尾翼所处平面绕尾翼所处平面与机身所处平面相交的交线顺时针或逆时针转动。
请参阅图2，所述机身10设置有容置腔(图未示)，所述主控板固定且收容于所述容置腔。
所述机身10的顶部设置有第一开口110和第二开口120，所述第一开口110设置于所述机身10的第一位置，所述第二开口120设置于所述机身的第二位置，所述第一开口110与所述第二开口120沿机身10 的横滚轴x的延伸方向间隔设置，所述第一开口110与所述第二开口120均与所述容置腔连通，所述第一开口110用于显露所述第三旋翼组件60，同时，所述第一开口也用于供所述主控板的导线穿过以使所述第三旋翼组件60与所述主控板电连接，所述第二开口120用于显露所述第四旋翼组件70，同时，所述第一开口也用于供所述主控板的导线穿过以使所述第三旋翼组件60与所述主控板电连接。
所述机身10的两侧相对设置有第三开口(图未示)与第四开口(图未示)，所述第三开口与所述第四开口均连通于所述容置腔，所述第三开口用于供所述主控板的导线穿过以使所述第一旋翼组件30电连接于所述主控板，所述第四开口用于供所述主控板的导线穿过以使所述第二旋翼组件40电连接于所述主控板。
所述机身10的尾部两侧相对设置有第五开口(图未示)与第六开口(图未示)，所述第五开口与所述第六开口均连通于所述容置腔，所述第五开口与所述第六开口均用于安装所述尾翼80。
可以理解的是：所述主控板安装于所述机身10的方式不限于上述方式，还可以为其它方式，例如：
(1)、所述容置腔包括第一容置腔和第二容置腔，所述第一容置腔与所述第一开口110连通，所述第二容置腔与所述第二开口120连通，所述第三旋翼组件60一部分安装于所述第一容置腔内，另一部分从所述第一开口110伸出，所述第四旋翼组件70一部分安装于所述第二容置腔内，并且另一部分从所述第二开口120伸出。所述主控板可以安装于所述第一容置腔或所述第二容置腔内，且所述第一容置腔与所述第二容置腔之间设置有连通孔，所述第三开口和所述第四开口均连通于所述连通孔，当所述主控板安装于所述第一容置腔内时，则所述主控板通过所述连通孔与位于所述第二容置腔内的第四旋翼组件70连接。同理的，当主控板安装于所述第二容置腔内时，则所述主控板通过所述连通孔与位于所述第一容置腔内的第三旋翼组件60连接。
可以理解，由于所述第三开口及所述第四开口均连通于所述连通孔，所以不论所述第三开口及所述第四开口连通于所述第一容置腔或所 述第二容置腔，所述主控板均可实现与所述第一旋翼组件及第二旋翼组件的连接。
值得说明的是：在一些实施例中，所述第一容置腔和所述第二容置腔可以由所述主控板分割出来的，即：当主控板安装于所述容置腔内时，所述主控板将所述容置腔分割成所述第一容置腔和所述第二容置腔，所述主控板的两个表面分别与所述第三旋翼组件60和所述第四旋翼组件70连接，此时，还可以将所述第三开口与所述第四开口均连通于所述第一容置腔，或者所述第三开口与所述第四开口均连通于所述第二容置腔，主控板通过第三开口和第四开口连接第一旋翼组件及第二旋翼组件。
(2)、所述容置腔包括第一容置腔和第二容置腔，所述第一容置腔与所述第一开口110连通，所述第二容置腔与所述第二开口120连通，所述第三旋翼组件60一部分安装于所述第一容置腔内，另一部分从所述第一开口110伸出，所述第四旋翼组件70一部分安装于所述第二容置腔内，并且另一部分从所述第二开口120伸出。所述主控板安装于所述机身10的外表面，所述主控板与所述第一旋翼组件40、所述第二旋翼组件50、所述第三旋翼组件60以及所述第四旋翼组件70无线连接，或所述主控板与第一旋翼组件40、所述第二旋翼组件50、所述第三旋翼组件60和所述第四旋翼组件70之间连接的导线均布设于所述机身的外部。
可以理解的是，当主控板与第一旋翼组件40、所述第二旋翼组件50、所述第三旋翼组件60和所述第四旋翼组件70之间连接的导线均布设于所述机身的外部时，所述机身的外部设置有保护装置，所述保护装置用于对所述主控板及导线进行防护，避免所述主控板及导线直接裸露，容易损坏。
(3)、所述容置腔包括第一容置腔、第二容置腔和第三容置腔，所述第一容置腔与所述第一开口110连通，所述第二容置腔与所述第二开口120连通，所述第三旋翼组件60部分安装于所述第一容置腔内，并 部分从所述第一开口110伸出，所述第四旋翼组件70部分安装于所述第二容置腔内，并且部分从所述第二开口120伸出，所述主控板安装于所述第三容置腔内，所述第三开口及所述第四开口均与所述第三容置腔连通。其中，所述第三容置腔与所述第一容置腔和所述第二容置腔之间均设置有连通孔，主控板通过该连通孔与所述第三旋翼组件60和所述第四旋翼组件70连接。
可以理解的是，由于所述第三开口及所述第四开口均与所述第三容置腔连通，且所述第三容置腔又分别与所述第一容置腔和所述第二容置腔连通，所以无论所述第三开口及第四开口通过所述第三容置腔与第一容置腔或第二容置腔连通，所述主控板均可实现与所述第一旋翼组件40及第二旋翼组件50的连接。
值得说明的是：所述第一机翼20和所述第二机翼30与所述机身10呈交叉十字，而所述第三旋翼组件60和所述第四旋翼组件70位于所述机身上，所述第一旋翼组件40、所述第二旋翼组件50分别位于所述第一机翼20和所述第二机翼30上，为了方便主控板与第一旋翼组件40、第二旋翼组件50、第三旋翼组件60和第四旋翼组件70连接，优选的，所述主控板安装于该交叉十字的位置，换而言之，当主控板安装于容置腔内，该主控板也是位于该交叉十字的位置。当然所述主控板也可安装于所述容置腔的任意位置，只要保证所述主控板将所述容置腔分割成所述第一容置腔和所述第二容置腔即可，对此本申请不作任何限制。
下文将以所述容置腔包括第一容置腔和第二容置腔为例进行说明。
所述第一容置腔和所述第二容置腔均为所述机身10的外壳围合形成的安装空间。
由上文的描述可知，所述第一容置腔和所述第二容置腔的位置不同。请继续参阅图1，所述第一机翼20包括第一机翼主体210和第一翼尖220。所述第一机翼主体210的一端安装于机身10左侧，所述第一翼尖220可倾转地安装于所述第一机翼主体210的另一端，所述第一旋翼组件40固定于第一翼尖220。
进一步的，所述第一机翼主体210内设有第一轴向空间(图未示)， 所述第一轴向空间与所述第三开口相连通，其中，第一轴向空间用于供所述主控板的导线穿过，以使所述第一旋翼组件40电连接于所述主控板。
用于驱动所述第一翼尖220相对于所述第一机翼主体210倾转的机构可以为任何机构，例如，所述无人飞行器100还包括第一倾转电机(图未示)。所述第一倾转电机安装于所述第一轴向空间内且与所述主控板连接，所述第一翼尖220连接于所述第一倾转电机的转轴，所述第一倾转电机用于驱动所述第一翼尖220相对于第一机翼主体210倾转。
所述第二机翼30包括第二机翼主体310和第二翼尖320。所述第二机翼主体310的一端安装于所述机身10右侧，所述第二翼尖320可转动地安装于所述第二机翼主体310的另一端，所述第二旋翼组件50固定于第二翼尖320。
进一步的，所述第二机翼主体310内设有第二轴向空间，所述第二轴向空间与所述第四开口相连通，其中，所述第二轴向空间用于供所述主控板的导线穿过，以使所述第二旋翼组件50电连接于所述主控板。
用于驱动所述第二翼尖320相对于所述第二机翼主体310倾转的机构可以为任何机构，例如，所述无人飞行器100还包括第二倾转电机(图未示)。所述第二倾转电机安装于所述第二轴向空间内且与所述主控板连接，所述第二翼尖320连接于所述第二倾转电机的转轴，所述第二倾转电机用于驱动所述第二翼尖320相对于第二机翼主体310倾转。
所述第一旋翼组件40包括第一电机410及与所述第一电机410的转动轴相连的第一螺旋桨420，所述第一电机410固定于所述第一翼尖220，所述第一电机410用于驱动第一螺旋桨420转动，为无人飞行器100提供动力。
可以理解，所述第一旋翼组件40的转动轴O1即为所述第一电机410的转动轴。
所述第二旋翼组件50包括第二电机510及与所述第二电机510的转动轴相连的第二螺旋桨520，所述第二电机510固定于所述第二翼尖320，所述第二电机510用于驱动第二螺旋桨520转动，为无人飞行器 100提供动力。
可以理解，所述第二旋翼组件50的转动轴O2即为所述第二电机510的转动轴。
所述第三旋翼组件60包括第三电机610及与所述第三电机610的转动轴相连的第三螺旋桨620，所述第三电机610安装于所述第一容置腔并部分通过所述第一开口110外露于所述机身10，所述第三电机610的转动轴垂直于所述机身10的横滚轴x，所述第三电机610用于驱动第三螺旋桨620转动，为无人飞行器100提供动力。
可以理解，所述第三旋翼组件60的转动轴O3即为所述第三电机610的转动轴。
请参阅图3，在一些实施例中，所述第三旋翼组件60还包括第一安装座630，所述第一安装座630内嵌于对应的所述第一容置腔且盖设于所述第一开口110，所述第三电机610固定于所述第一安装座630且部分外露于所述机身10，从而使得所述第三电机610的热量可以通过自身及第一安装座630散发到空气中。
可以理解，所述第一安装座630由导热性较好的金属材质制成，且所述第三螺旋桨620产生的气流经过所述第一安装座630。
通过上述方式，在无人飞行器垂直起降或悬停时，所述第三电机610的热量一部分由所述第三螺旋桨产生的气流带走，另一部分传导至所述第一安装座630，并由流经所述第一安装座630的气流带走。
请参阅图4，在一些实施例中，为进一步增强所述第三电机610的散热，所述第一安装座630上设置有第一散热孔631，所述第一散热孔631连通所述第一容置腔，所述机身10的底部与所述第一容置腔相对应的位置设有第一通风孔130，所述第一通风孔130连通所述第一容置腔。所述第一容置腔通过所述第一通风孔130与外界连通，提高热交换率，促进所述第三电机610的散热。
值得说明的是：所述第三旋翼组件60的转动轴O3垂直于机身10的横滚轴x，而所述第一开口110连通所述第一容置腔，且所述第一开口110用于使所述第三电机610部分外露于所述机身，为了更好地对所 述第三电机610散热，优选地，所述第一通风孔130设置于所述第一开口110的正下方，当然所述第一通风孔130可以设置于所述机身10底部的任意位置，只要保证所述第一通风孔130与所述第一容置腔连通即可，对此本申请不作任何限制。
在一些实施例中，所述机身10的底部设置有倾斜面，所述第一通风孔130设置于所述倾斜面，以使在相同横截面的条件下增大所述第一通风孔130的孔径，从而加强散热效果。
所述第一散热孔631的数量可以为多个，多个所述第一散热孔631均匀分布于所述第一安装座630上。
所述第四旋翼组件70包括第四电机710及与所述第四电机710的转动轴相连的第四螺旋桨720，所述第四电机710安装于所述第二容置腔并部分通过所述第二开口120外露于所述机身10，所述第四电机710的转动轴垂直于机身10的横滚轴x，所述第四电机710用于驱动第四螺旋桨720转动，为无人飞行器01提供动力。
可以理解，所述第四旋翼组件70的转动轴O4即为所述第四电机710的转动轴。
请参阅图5，在一些实施例中，所述第四旋翼组件70还包括第二安装座730，所述第二安装座730内嵌于对应的所述第二容置腔且盖设于所述第二开口120，所述第四电机710固定于所述第二安装座730且部分外露于所述机身10，从而使得所述第四电机710的热量可以通过自身及第二安装座730散发到空气中。
可以理解，所述第二安装座730由导热性较好的金属材质制成，且所述第四螺旋桨720产生的气流经过所述第二安装座730。
通过上述方式，在无人飞行器垂直起降或悬停时，所述第四电机710的热量一部分由所述第四螺旋桨720产生的气流带走，另一部分传导至所述第二安装座730，并由流经所述第二安装座730的气流带走。
在一些实施例中，为进一步增强所述第四电机710的散热，所述第二安装座730上设置有第二散热孔731，所述第二散热孔731连通所述第二容置腔，所述机身10的底部与所述第二容置腔相对应的位置设有 第二通风孔140，所述第二通风孔140连通所述第二容置腔。所述第二容置腔通过所述第二通风孔140与外界连通，提高热交换率，促进所述第四电机710的散热。
值得说明的是：所述第四旋翼组件70的转动轴O4垂直于机身10的横滚轴x，而所述第二开口120连通所述第二容置腔看，且所述第二开口120用于使所述第四电机710部分外露于所述机身10，为了更好地对所述第四电机710散热，优选地，所述第二通风孔140设置于所述第二开口120的正下方，当然所述第二通风孔140可以设置于所述机身10底部的任意位置，只要保证所述第二通风孔140与所述第二容置腔连通即可，对此本申请不作任何限制。
所述第二散热孔731的数量可以为多个，多个所述第一散热孔731均匀分布于所述第二安装座730上。
在一些实施例中，所述第一通风孔130和第二通风孔140上装设有进气格栅，所述进气格栅用于防止外界空气带有的杂物进入所述容置腔，从而保证所述容置腔内的主控板以及其它电性元件(图未示)的稳定性能。
通过上述方式，相比电机全部裸露在机身外，使得本申请实施例的无人飞行器在固定翼飞行时，第三电机610和第四电机710可以减小飞行阻力，提升飞行器的续航能力，同时无人飞行器在垂直升降或悬停时也能保证第三电机610和第四电机710的散热。
在一些实施例中，所述第三电机裸露于所述机身10外部的长度占所述第三电机总长度的比例可以为5％、10％、20％、30％、40％、50％或60％。
所述第四电机与所述第三电机裸露于所述机身外部的长度一致，在此将不再赘述。所述尾翼80包括第一尾翼810和第二尾翼820。所述第一尾翼810安装于所述机身10的尾部左侧，第二尾翼820安装于所述机身10的尾部右侧，其中，所述第一尾翼810与所述第二尾翼820皆可绕所述机身10的第二俯仰轴y2转动，从而调整无人飞行器在飞行过程中飞行姿态。
请参阅图6，用于驱动所述第一尾翼810相对于所述机身10的第二俯仰轴y2转动的机构可以为任意机构，例如，所述无人飞行器100还包括第一角度调节机构150。第一角度调节机构150固定并收容于所述机身10的尾部，所述第一角度调节机构150用于调节第一尾翼810与所述机身10之间的角度。所述第一角度调节机构150包括第一调节电机151和第一连接轴152。所述第一调节电机151固定于所述机身10的尾部且与所述主控板连接，所述第一连接轴152的一端连接于所述第一调节电机151的转轴，所述第一连接轴152的另一端固定于所述第一尾翼810，所述第一调节电机151用于驱动第一尾翼810绕所述机身10的第二俯仰轴y2转动，实现所述第一尾翼810与所述机身10之间的角度调节。
用于驱动所述第二尾翼820相对于所述机身10的第二俯仰轴y2转动的机构可以为齿轮传动机构、蜗轮蜗杆机构等，对此本申请不作任何限制。例如，所述无人飞行器还包括第二角度调节机构(图未示)。所述第二角度调节机构固定并收容于所述机身10的尾部，第二角度调节机构用于调节第二尾翼820与机身10之间的角度。具体的，第二角度调节机构包括第二调节电机(未示出)、外齿轮(未示出)与内齿轮(未示出)。第二调节电机固定于机身的尾部且与所述主控板连接，外齿轮套设于第二调节电机的转动轴，内齿轮固定于第一尾翼，外齿轮插接并啮合于内齿轮，第二调节电机用于驱动第二尾翼绕所述机身10的第二俯仰轴y2转动，实现所述第二尾翼820与所述机身10之间的角度调节。
其中，所述第一角度调节机构与所述第二角度调节机构的结构可以相同也可以不同，对此，本申请不做任何限制。
在一些实施例中，所述第一机翼20、第二机翼30及尾翼80上设置有起降缓冲器，这样可以降低无人飞行器的碰撞，减少维护成本。
在一些实施例中，所述第一螺旋桨、第二螺旋桨、第三螺旋桨及第四螺旋桨均由碳纤维制成，且桨叶的内部填充有泡沫，此桨的质量轻，强度足，还能吸收螺旋桨的震动。
为便于读者理解本申请实施例，对无人飞行器的运动过程进行描 述，如下：
请参阅图7，垂直起降时，在所述主控板的控制下，第一倾转电机及第二倾转电机分别驱动第一翼尖220以及第二翼尖320转动至竖直模式，并且第一电机410、第二电机510、第三电机610与第四电机710一起提供拉力，克服无人飞行器100自身的重力实现垂直起降和空中悬停。
上述竖直模式是指，所述第一旋翼组件的转动轴O1和所述第二旋翼组件的转动轴O2垂直于所述机身10。
无人飞行器100固定翼平飞时，第一倾转电机及第二倾转电机分别驱动第一翼尖220以及第二翼尖320共同转动至水平模式，由设置于第三电机610的转动轴上的第三螺旋桨620与设置于第四电机710的转动轴上的第四螺旋桨720提供动力克服无人飞行器100飞行时的阻力。
上述水平模式是指，所述第一旋翼组件的转动轴O1和所述第二旋翼组件的转动轴O2平行于所述机身10。
另外，请一并参阅图8及图9，通过控制第三电机610的转速与第四电机710的转速，可实现无人飞行器100的俯仰操纵及前后飞；通过控制第一电机410的转速与第二电机510的转速，可实现无人飞行器100的滚转操纵及左右飞；以及通过第一调节电机转动第一尾翼810、第二调节电机1211转动第二尾翼820，使第一尾翼810与第二尾翼820之间形成角度差，可实现无人飞行器100的航向操纵。
在本申请实施例中，通过使第三电机和第四电机部分裸露于所述机身，使得无人飞行器在垂直升降或悬停时，第三电机和第四电机的热量可以通过自身散发到外界空气中，同时，使得无人飞行器在固定翼平飞时，可以降低了飞行阻力，从而提升了飞行器的航时性能。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人 员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (10)

  1. 一种无人飞行器，其特征在于，包括：
    机身，设置有第一容置腔和第二容置腔，其中，所述第一容置腔与所述第二容置腔的位置不同；
    第一机翼，设置于所述机身的一侧；
    第二机翼，设置于所述机身的另一侧；
    第一旋翼组件，安装于所述第一机翼，并且所述第一旋翼组件可相对于所述机身转动；
    第二旋翼组件，安装于所述第二机翼，并且所述第二旋翼组件可相对于所述机身转动；
    第三旋翼组件，包括第三电机及与所述第三电机相连的第三螺旋桨，所述第三电机安装于所述第一容置腔并部分外露于所述机身；
    第四旋翼组件，包括第四电机及与所述第四电机相连的第四螺旋桨，所述第四电机安装于所述第二容置腔并部分外露于所述机身；
    主控板，固定于所述机身，并且所述主控制板分别与所述第一旋翼组件、所述第二旋翼组件、所述第三旋翼组件及所述第四旋翼组件连接。
  2. 根据权利要求1所述的无人飞行器，其特征在于，
    所述第三旋翼组件还包括第一安装座，所述第一安装座内嵌于对应的所述第一容置腔，所述第三电机安装于所述第一安装座且部分外露于所述机身；
    所述第四旋翼组件还包括第二安装座，所述第二安装座内嵌于对应的所述第二容置腔，所述第四电机安装于所述第二安装座且部分外露于所述机身。
  3. 根据权利要求2所述的无人飞行器，其特征在于，
    所述机身的底部与所述第一容置腔相对应的位置设有第一通风孔，所述第一通风孔连通所述第一容置腔；
    所述机身的底部与所述第二容置腔相对应的位置设有第二通风孔，所述第二通风孔连通所述第二容置腔。
  4. 根据权利要求2所述的无人飞行器，其特征在于，
    所述第一安装座设置有第一散热孔，所述第一散热孔与所述第一容置腔连通，所述第二安装座设置有第二散热孔，所述第二散热孔与所述第二容置腔连通。
  5. 根据权利要求1至4任一项所述的无人飞行器，其特征在于，
    所述第一旋翼组件包括第一电机及与所述第一电机相连的第一螺旋桨，所述第一电机安装于所述第一机翼；
    所述第二旋翼组件包括第二电机及与所述第二电机相连的第二螺旋桨，所述第二电机安装于所述第二机翼。
  6. 根据权利要求1至4任一项所述的无人飞行器，其特征在于，
    所述第一机翼包括第一机翼主体和第一翼尖，
    所述第一机翼主体的一端连接于所述机身的一侧，所述第一翼尖可倾转地连接于所述第一机翼主体的另一端，所述第一旋翼组件固定于所述第一翼尖；
    所述无人飞行器还包括第一倾转电机，所述第一倾转电机与所述主控板连接，所述第一倾转电机用于驱动所述第一翼尖绕所述第一机翼主体转动。
  7. 根据权利要求1至4任一项所述的无人飞行器，其特征在于，
    所述第二机翼包括第二机翼主体和第二翼尖；
    所述第二机翼主体的一端安装于所述机身的一侧，所述第二翼尖可转动地安装于所述第二机翼主体的另一端，所述第二旋翼组件固定于所述第二翼尖；
    所述无人飞行器还包括第二倾转电机，所述第二倾转电机与所述主控板连接，所述第二倾转电机用于驱动所述第二翼尖绕所述第二机翼主 体转动。
  8. 根据权利要求1至4任一项所述的无人飞行器，其特征在于，
    所述无人飞行器还包括尾翼，所述尾翼安装于所述机身的尾部，并且所述尾翼可绕所述机身转动。
  9. 根据权利要求8所述的无人飞行器，其特征在于，
    所述尾翼包括第一尾翼和第二尾翼，所述第一尾翼安装于所述机身的尾部一侧，所述第二尾翼安装于所述机身的尾部另一侧，所述第一尾翼与所述第二尾翼皆可绕所述机身转动。
  10. 根据权利要求9所述的无人飞行器，其特征在于，
    所述无人飞行器包括第一角度调节机构和第二角度调节机构，所述第一角度调节机构和所述第二角度调节机构均固定于所述机身，所述第一角度调节机构和所述第二角度调节机构均与所述主控板连接；
    所述第一调节机构用于调节所述第一尾翼与所述机身之间的角度，所述第二调节机构用于调节所述第二尾翼与所述机身之间的角度。
PCT/CN2021/115732 2020-10-16 2021-08-31 一种无人飞行器 Ceased WO2022078092A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP21879138.2A EP4206074B1 (en) 2020-10-16 2021-08-31 UNPERSONALIZED AIRCRAFT
US18/191,081 US12486054B2 (en) 2020-10-16 2023-03-28 Unmanned aerial vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011109648.4 2020-10-16
CN202011109648.4A CN112158330A (zh) 2020-10-16 2020-10-16 一种无人飞行器

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/191,081 Continuation US12486054B2 (en) 2020-10-16 2023-03-28 Unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
WO2022078092A1 true WO2022078092A1 (zh) 2022-04-21

Family

ID=73867472

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/115732 Ceased WO2022078092A1 (zh) 2020-10-16 2021-08-31 一种无人飞行器

Country Status (4)

Country Link
US (1) US12486054B2 (zh)
EP (1) EP4206074B1 (zh)
CN (1) CN112158330A (zh)
WO (1) WO2022078092A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20240228018A1 (en) * 2021-07-29 2024-07-11 Safran Helicopter Engines Propeller for an aircraft propulsion assembly, propulsion assembly, and method for the use of such a propulsion assembly

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD1110923S1 (en) * 2018-11-15 2026-02-03 Textron Innovations, Inc. Aircraft
CN112158330A (zh) * 2020-10-16 2021-01-01 深圳市道通智能航空技术有限公司 一种无人飞行器
CN112874772A (zh) * 2021-03-29 2021-06-01 兰州山河上空智能科技有限公司 一种以多旋翼构架为主的倾转复合翼飞行器
CN112977813B (zh) * 2021-04-02 2025-11-25 深圳市道通智能航空技术股份有限公司 一种可倾转机翼及无人机
CN117446224B (zh) * 2023-12-20 2024-02-23 中国空气动力研究与发展中心设备设计与测试技术研究所 一种水上无人机及水下探测器投放和回收方法
GB202403401D0 (en) * 2024-03-08 2024-04-24 Radio Bird Spolka Z Ograniczona Tilt-wing unmanned aerial vehicle for signals intelligence
US20250346373A1 (en) * 2024-05-10 2025-11-13 Lockheed Martin Corporation Airspeed driven tilt angle for electric tiltrotor aircraft

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN207029543U (zh) * 2017-08-03 2018-02-23 普宙飞行器科技（深圳）有限公司 无人机及其旋翼组件
CN207045754U (zh) * 2017-08-18 2018-02-27 北京天擎智造航空科技有限公司 一种无人机电机座及包括该电机座的无人机
CN109436314A (zh) * 2018-12-29 2019-03-08 深圳市道通智能航空技术有限公司 一种无人飞行器
US20200031464A1 (en) * 2017-03-09 2020-01-30 Yehuda SHAFIR Vertical takeoff and landing light aircraft
CN112158330A (zh) * 2020-10-16 2021-01-01 深圳市道通智能航空技术有限公司 一种无人飞行器

Family Cites Families (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2591187B1 (fr) * 1985-12-05 1988-03-25 Rabouyt Denis Perfectionnements aux aeronefs a decollage vertical.
US5758844A (en) * 1996-05-28 1998-06-02 Boeing North American, Inc. Vertical/short take-off and landing (V/STOL) air vehicle capable of providing high speed horizontal flight
WO2007120199A2 (en) * 2005-11-09 2007-10-25 Morgan Aircraft, Llc Aircraft attitude control configuration
EP2097317A1 (en) * 2006-11-02 2009-09-09 Severino Manuel Oliveira Raposo System and process of vector propulsion with independent control of three translation and three rotation axis
IL199009A (en) * 2009-05-27 2013-11-28 Israel Aerospace Ind Ltd aircraft
DE102012217469A1 (de) * 2012-09-26 2014-03-27 Siemens Aktiengesellschaft Kühlsystem für Komponenten in (Luft-)Fahrzeugstrukturen
EP2931603A4 (en) * 2012-12-13 2016-09-07 Stoprotor Technology Pty Ltd PLANE AND METHOD FOR OPERATING A PLANE
US20150274289A1 (en) * 2014-03-31 2015-10-01 The Boeing Corporation Vertically landing aircraft
HUE044144T2 (hu) * 2014-10-27 2019-09-30 Guangzhou Xaircraft Tech Co Ltd Motorhõ-elvezetõ szerkezet forgószárnyas repülõgéphez
US10655728B2 (en) * 2015-12-01 2020-05-19 The Boeing Company Reconfigurable lubrication system for tiltrotor transmission
CN205418086U (zh) * 2015-12-19 2016-08-03 云南熙祥航空科技有限公司 一种减震防摔式多旋翼无人飞行器
KR101757442B1 (ko) * 2016-02-22 2017-07-12 하이리움산업(주) 멀티 콥터용 연료 전지 파워팩
CN206125442U (zh) * 2016-10-21 2017-04-26 北京京东尚科信息技术有限公司 无人机电机安装座及无人机
US20180002023A1 (en) * 2016-12-27 2018-01-04 Yuneec International (China) Co.,Ltd Cooling system for unmanned aerial vehicle
US20180215465A1 (en) * 2017-01-31 2018-08-02 Joseph Raymond RENTERIA Rotatable thruster aircraft with separate lift thrusters
US10676187B2 (en) * 2017-03-07 2020-06-09 The Boeing Company Robust amphibious aircraft
CN206885366U (zh) * 2017-05-18 2018-01-16 崔高胜 一种多功能航模无人机散热装置
US11635773B2 (en) * 2017-05-31 2023-04-25 The Regents Of The University Of California Tilt-frame UAV for agricultural air sampling with a propeller-thrust-governing system that facilitates VTOL capability
US10906652B2 (en) * 2017-07-28 2021-02-02 Intel Corporation Thermal management systems for unmanned aerial vehicles
CN208165274U (zh) * 2018-05-22 2018-11-30 福建晟洲信息科技有限公司 一种带有散热装置的巡查航飞无人机
US11964756B2 (en) * 2018-07-04 2024-04-23 Aerhart, LLC Aeronautical apparatus
CN108945430B (zh) * 2018-07-16 2022-04-12 武汉科技大学 一种扑动-折叠-主动扭转混合驱动的仿生扑翼飞行器
CN112333981A (zh) * 2018-08-16 2021-02-05 深圳市大疆创新科技有限公司 无人飞行器
CN109263946A (zh) * 2018-10-30 2019-01-25 佛山市神风航空科技有限公司 一种双翼飞机
US20200239134A1 (en) * 2019-01-25 2020-07-30 Bell Helicopter Textron Inc. Hybrid-electric ducted fan transport
US20200391859A1 (en) * 2019-06-12 2020-12-17 Bell Textron Inc. Vtol aircraft with leading edge tilting ducted fans
RU2723516C1 (ru) * 2019-08-09 2020-06-11 Общество с ограниченной ответственностью "АДА БПЛА" Конвертоплан
WO2021078267A1 (zh) * 2019-10-23 2021-04-29 深圳市道通智能航空技术有限公司 一种无人飞行器
MY204598A (en) * 2020-02-06 2024-09-05 Chung How Poh An airplane with tandem roto-stabilizers
CN215514102U (zh) * 2020-10-16 2022-01-14 深圳市道通智能航空技术股份有限公司 一种无人飞行器
US12168508B2 (en) * 2021-03-29 2024-12-17 Textron Innovations Inc. Tilting hexrotor aircraft
CN215541020U (zh) 2021-05-08 2022-01-18 天津佶品佳化工科技有限公司 一种用于巴豆醇纯化的简易蒸馏装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200031464A1 (en) * 2017-03-09 2020-01-30 Yehuda SHAFIR Vertical takeoff and landing light aircraft
CN207029543U (zh) * 2017-08-03 2018-02-23 普宙飞行器科技（深圳）有限公司 无人机及其旋翼组件
CN207045754U (zh) * 2017-08-18 2018-02-27 北京天擎智造航空科技有限公司 一种无人机电机座及包括该电机座的无人机
CN109436314A (zh) * 2018-12-29 2019-03-08 深圳市道通智能航空技术有限公司 一种无人飞行器
CN112158330A (zh) * 2020-10-16 2021-01-01 深圳市道通智能航空技术有限公司 一种无人飞行器

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4206074A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20240228018A1 (en) * 2021-07-29 2024-07-11 Safran Helicopter Engines Propeller for an aircraft propulsion assembly, propulsion assembly, and method for the use of such a propulsion assembly
US12534185B2 (en) * 2021-07-29 2026-01-27 Safran Helicopter Engines Propeller for an aircraft propulsion assembly, propulsion assembly, and method for the use of such a propulsion assembly

Also Published As

Publication number Publication date
EP4206074B1 (en) 2025-12-31
EP4206074A1 (en) 2023-07-05
US12486054B2 (en) 2025-12-02
CN112158330A (zh) 2021-01-01
EP4206074A4 (en) 2024-05-15
US20230234729A1 (en) 2023-07-27

Similar Documents

Publication Publication Date Title
WO2022078092A1 (zh) 一种无人飞行器
CN207843295U (zh) 无人机及其机壳
WO2020134136A1 (zh) 一种无人飞行器
US20200290718A1 (en) Unmanned aerial vehicle
CN107336833B (zh) 一种复合无人机及控制方法
JP7809373B2 (ja) 飛行体及び動力装置
CN106585952B (zh) 一种多旋翼无人机
WO2021078267A1 (zh) 一种无人飞行器
WO2019007101A1 (zh) 飞行器、倾转驱动机构及其控制方法
CN105947192A (zh) 一种倾转双涵道无人机
CN102582834A (zh) 一种碟形飞行器
WO2020001273A1 (zh) 散热结构及无人飞行器
CN110371287A (zh) 倾转翼机构以及倾转旋翼无人机
CN215514102U (zh) 一种无人飞行器
WO2020156078A1 (zh) 一种倾转旋翼无人机及其机翼组件
CN107878747B (zh) 一种垂直起降的固定翼飞行器
KR20100094056A (ko) 쌍회전 날개식 수직이착륙기
CN205998126U (zh) 一种无人机飞行系统
CN110065629B (zh) 一种多功能倾转涵道无人飞行器
CN210971492U (zh) 飞行器
CN109159890B (zh) 一种单旋翼垂直起降飞行器
CN207141394U (zh) 一种采用交叉变距旋翼结构的可倾转式高机动无人机
CN108545181A (zh) 固定翼旋翼复合式无人机
CN211844880U (zh) 飞行器及飞行系统
CN112046740A (zh) 一种垂直起降飞行器和飞行方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21879138

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021879138

Country of ref document: EP

Effective date: 20230331

NENP Non-entry into the national phase

Ref country code: DE

WWG Wipo information: grant in national office

Ref document number: 2021879138

Country of ref document: EP