CN110816846B - A fixed-wing UAV capable of vertical take-off - Google Patents
A fixed-wing UAV capable of vertical take-off Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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- 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
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- 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
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- 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
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
本发明涉及一种可实现垂直起飞的固定翼无人机，包括固定翼无人机本体、垂直起飞驱动机构和可自动脱离牵引机构，所述固定翼无人机本体包含一体化设置的机身和一对机翼，所述机身的上表面于所述机翼之间以及机翼的后侧分别设置有第一限位槽和第二限位槽；所述可自动脱离牵引机构包含固定装置于机身上的第一限位槽内的电磁铁，可自动脱离牵引机构还包含有铰接到所述垂直起飞驱动机构的方形盒体底部的牵拉杆，所述牵拉杆未铰接到方形盒体的一端向下铰接有铁质固定板。本发明既能够实现平稳高效的垂直起飞，且能够确保固定翼无人机在常规飞行过程中不会因自身结构的改变而受到任何的阻碍和干扰，并能够实现垂直起飞与常规飞行的无痕衔接。
The invention relates to a fixed-wing unmanned aerial vehicle capable of vertical take-off, comprising a fixed-wing unmanned aerial vehicle body, a vertical take-off driving mechanism and a traction mechanism that can be automatically disengaged. The fixed-wing unmanned aerial vehicle body comprises an integrally arranged fuselage and a pair of wings, the upper surface of the fuselage is respectively provided with a first limit slot and a second limit slot between the wings and the rear side of the wing; the automatically detachable traction mechanism includes a fixed The electromagnet installed in the first limit slot on the fuselage can automatically disengage from the traction mechanism and also includes a pull rod hinged to the bottom of the square box body of the vertical take-off drive mechanism, and the pull rod is not hinged to the bottom of the square box body of the vertical take-off drive mechanism. One end of the square box body is hinged downward with an iron fixing plate. The invention can not only realize stable and efficient vertical take-off, but also can ensure that the fixed-wing UAV will not be hindered or interfered by any changes in its own structure during the conventional flight process, and can realize the seamless vertical take-off and conventional flight. articulate.
Description
Technical Field
The invention relates to the technical field of vertical lifting of unmanned aerial vehicles, in particular to a fixed-wing unmanned aerial vehicle capable of realizing vertical take-off.
Background
Many rotor unmanned aerial vehicles and fixed wing unmanned aerial vehicle have been very common in daily life, often are used for occasions such as aerial photography, ground survey and drawing, disaster relief investigation. However, in the using process, the multi-rotor unmanned aerial vehicle is found to be short in flight time, the flight speed is low, the multi-rotor unmanned aerial vehicle is not suitable for large-scale exploration and flight, and the problem of short flight duration is solved by the fixed-wing unmanned aerial vehicle. Traditional fixed wing unmanned aerial vehicle need take off with the help of the runway in the use, and some small-size fixed wing unmanned aerial vehicles that are used for taking photo by plane need carry out the hand through the manual work and throw or adopt launcher equipment to launch unmanned aerial vehicle often because there is not suitable runway when using. In the manual throwing process, even if throwing personnel have enough experience, the accident that the throwing angle is not in place to cause the crash loss of the unmanned aerial vehicle often occurs. And adopt launcher equipment to launch unmanned aerial vehicle, need add outfit launcher equipment, one comes the cost too high, and two come the bulky of launcher equipment, weight sink, and some unmanned aerial vehicle's use occasion is comparatively far away, even in mountain area, and the intensity of labour of operation personnel has undoubtedly been increased in carrying of bulky, heavy launcher equipment of weight.
For this reason, many manufacturers have begun to enter the development of fixed wing drones with vertical takeoff functionality. The existing unmanned aerial vehicle with the vertical flying function mainly has two types, one type is that a vertical lifting wing is added, a driving motor is vertically added on the body of the fixed-wing unmanned aerial vehicle, then a horizontal device screw is arranged on an output shaft of the driving motor, and the fixed-wing unmanned aerial vehicle is driven to realize vertical lifting under the driving of the screw of the horizontal device. Although vertical lift has been realized to such fixed wing unmanned aerial vehicle, when conventional flight, the driving motor of perpendicular setting and level assembly's screw can cause great weight burden for fixed wing unmanned aerial vehicle, can form great resistance moreover, and the result of use is very low, is difficult to obtain the popularization. In order to solve this problem, some producers try to make the driving motor who sets up perpendicularly and the screw that the level set up and to accomodate, but this has nevertheless promoted the complexity of product structure in the very big degree easily, leads to fixed wing unmanned aerial vehicle to lose original balanced state moreover, is difficult to realize more. The other is that the driving motor and the propeller of the fixed-wing unmanned aerial vehicle are made into a turnable folding structure, when the unmanned aerial vehicle takes off vertically, the driving motor and the propeller turn upwards, and the propeller turns upwards in a horizontal state, so that the unmanned aerial vehicle takes off vertically, and after the unmanned aerial vehicle takes off vertically, the driving motor and the propeller turn downwards through the turning mechanism, and conventional flight is realized. Such fixed wing unmanned aerial vehicle causes the fuselage unstability at the upset in-process of CD-ROM drive motor and screw easily, lead to the flight unbalance, the foremost is whole tilting mechanism and upset actuating mechanism, positioning mechanism's setting has in addition very big fixed wing unmanned aerial vehicle's that has increased structure complexity, the manufacturing cost of equipment has been increased by a wide margin, and under the condition that the structure complexity promoted by a wide margin, fixed wing unmanned aerial vehicle's flight is difficult to remain stable for a long time, life is difficult to obtain the assurance.
Therefore, the fixed-wing unmanned aerial vehicle capable of achieving vertical takeoff can achieve stable and efficient vertical takeoff, can ensure that the fixed-wing unmanned aerial vehicle after vertical takeoff cannot be hindered and interfered by change of the structure of the fixed-wing unmanned aerial vehicle in the conventional flight process, is simple in structure, can ensure the flight effect and the service life, and can achieve seamless connection between vertical takeoff and conventional flight.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a fixed wing unmanned aerial vehicle capable of realizing vertical takeoff, and the fixed wing unmanned aerial vehicle capable of realizing vertical takeoff can effectively solve the problems in the prior art.
The technical scheme of the invention is as follows:
a fixed-wing unmanned aerial vehicle capable of achieving vertical takeoff comprises a fixed-wing unmanned aerial vehicle body, a vertical takeoff driving mechanism and an automatic disengaging traction mechanism, wherein the fixed-wing unmanned aerial vehicle body comprises a body and a pair of wings, the body is integrally arranged, the wings are arranged on the left side and the right side of the body, the front sides of the wings and the front part of the body are respectively provided with a horizontal driving motor in a horizontal fixing mode, an output shaft of each horizontal driving motor is respectively provided with a longitudinal propeller in a fixing mode, a first limiting groove and a second limiting groove are respectively formed in the upper surface of the body between the wings and the rear side of the wing, a corresponding fixed-wing unmanned aerial vehicle storage battery is arranged in the second limiting groove, and the horizontal driving motors are respectively connected to the fixed-wing unmanned aerial vehicle storage battery through corresponding fixed-wing unmanned aerial vehicle electric controllers; the vertical take-off driving mechanism comprises a square box body, the tops of four corners of the square box body are respectively and obliquely and fixedly connected with corresponding machine arms outwards, one ends of the machine arms, which are not fixedly connected to the square box body, are respectively and fixedly provided with corresponding vertical driving motors, output shafts of the vertical driving motors are respectively and fixedly connected with corresponding horizontal propellers, corresponding storage batteries for the unmanned rotor wing are fixedly arranged in the square box body, and the vertical driving motors are respectively connected to the storage batteries for the unmanned rotor wing through corresponding electric controllers for the unmanned rotor wing; the traction mechanism capable of automatically disengaging comprises an electromagnet fixedly arranged in a first limiting groove, the electromagnet is connected to a storage battery for the fixed-wing unmanned aerial vehicle through an electric controller for the fixed-wing unmanned aerial vehicle, the traction mechanism capable of automatically disengaging also comprises a traction rod hinged to the bottom of the square box body, and one end of the traction rod, which is not hinged to the square box body, is downwards hinged with an iron fixing plate with a shape matched with that of the electromagnet; the front end of the electromagnet is integrated and is fixedly connected with a corresponding convex edge, the inner side of the convex edge is provided with a limiting hole, a corresponding compression spring is arranged in the limiting hole respectively, the iron fixing plate is connected behind the electromagnet in an adsorption mode, and the compression spring is arranged between the iron fixing plate and the bottom of the limiting hole in a compression state.
The upper surface of fuselage in the device has a corresponding photoelectric sensing ware between first spacing groove and the second spacing groove, be provided with a corresponding sign coating on the bottom intermediate position of square box body, photoelectric sensing ware is connected to stationary vane unmanned aerial vehicle power consumption controller.
The horizontal propellers are all positioned above a space formed by the fuselage and the wings.
And an upturning angle of 3-10 degrees is formed between the lower plane of the wing and the horizontal plane.
The opening direction of the second limiting groove is provided with a corresponding cover plate in a screw connection mode.
The invention has the advantages that:
1) according to the invention, on the basis of the traditional fixed-wing unmanned aerial vehicle body, the vertical take-off driving mechanism is added, and through the intervention of the automatic disengaging traction mechanism, the disengageable connection between the fixed-wing unmanned aerial vehicle body and the vertical take-off driving mechanism is effectively realized. Before vertical takeoff, the electromagnet which can automatically separate from the traction mechanism is controlled by an electric controller for the fixed wing unmanned aerial vehicle to be communicated with a storage battery for the fixed wing unmanned aerial vehicle, and then an iron fixing plate which can automatically separate from the traction mechanism is assembled on the electromagnet in an adsorption manner; in the vertical takeoff process, the vertical driving motor is controlled to start by the electric controller of the rotor unmanned aerial vehicle, and the vertical takeoff driving mechanism is driven to fly upwards by the rotation of the horizontal propeller at the output shaft end of the vertical driving motor, as in the existing rotor unmanned aerial vehicle; in the process of flying upwards by the vertical takeoff driving mechanism, the fixed-wing unmanned aerial vehicle body is pulled and driven to take off upwards, and after the fixed-wing unmanned aerial vehicle body takes off upwards passively to a certain height, the horizontal driving motor is controlled to be started by the electric controller of the fixed-wing unmanned aerial vehicle, and the conventional horizontal flying of the fixed-wing unmanned aerial vehicle body is realized by the rotation of the longitudinal propeller at the output end of the horizontal driving motor; and when the conventional horizontal flight of fixed wing unmanned aerial vehicle body was to certain speed, through the outage of fixed wing unmanned aerial vehicle for the controller control electro-magnet, make fixed wing unmanned aerial vehicle body and the driving mechanism formation separation of taking off perpendicularly, ensure that fixed wing unmanned aerial vehicle body is under the prerequisite that has possessed sufficient flying height and flying speed, directly get into conventional flight. Can enough realize steady efficient vertical take-off, and can realize vertical take-off and conventional flight's no trace link up to can ensure to accomplish the fixed wing unmanned aerial vehicle after vertical take-off can not receive any hindrance and interference because of the change of self structure at conventional flight in-process, realize that the structure is simple and easy, can ensure flight effect and life's advantage.
2) The front end of the electromagnet is integrally and fixedly connected with a corresponding convex edge upwards, the inner side of the convex edge is provided with a limiting hole, corresponding compression springs are respectively fixed in the limiting holes, and after the iron fixing plate is connected to the electromagnet in an adsorption mode, the compression springs are arranged between the iron fixing plate and the bottom of the limiting hole in a compression mode. After the electro-magnet outage, compression spring resumes the shape, and produce sufficient elasticity, can enough effectively ensure to break away from between vertical take-off actuating mechanism and the fixed wing unmanned aerial vehicle body and target in place, and can be under the condition that possesses enough flying speed at the fixed wing unmanned aerial vehicle body, further promote the fixed wing unmanned aerial vehicle body and move ahead with higher speed, effectively further ensure vertical take-off and conventional flight's no trace link up, further ensure that the fixed wing unmanned aerial vehicle body stably gets into conventional flight state.
3) A corresponding photoelectric sensor is arranged on the upper surface of the unmanned aerial vehicle body between the first limiting groove and the second limiting groove, a corresponding identification coating is arranged at the middle position of the bottom of the square box body, and the photoelectric sensor is connected to the power utilization controller of the fixed-wing unmanned aerial vehicle. When the conventional horizontal flight of fixed wing unmanned aerial vehicle body sensed the sign coating to photoelectric sensing ware, photoelectric sensing ware was with signal of telecommunication to fixed wing unmanned aerial vehicle power consumption controller, fixed wing unmanned aerial vehicle power consumption controller is receiving the signal of telecommunication that photoelectric sensing ware transmission was come back, the outage of control electro-magnet, guarantee that fixed wing unmanned aerial vehicle body possesses sufficient flying speed when breaking away from the actuating mechanism of taking off perpendicularly, realize practically taking off perpendicularly and the seamless linking of conventional flight, fuselage when effectively further guaranteeing fixed wing unmanned aerial vehicle body entering conventional flight is stable.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a state diagram of the present invention.
Detailed Description
To facilitate understanding of those skilled in the art, the structure of the present invention will now be described in further detail by way of examples in conjunction with the accompanying drawings:
referring to fig. 1-2, a fixed wing unmanned aerial vehicle capable of realizing vertical takeoff comprises a fixed wing unmanned aerial vehicle body 1, a vertical takeoff driving mechanism 2 and an automatic disengaging traction mechanism 3, the fixed wing unmanned aerial vehicle body 1 comprises a body 101 and a pair of wings 102, wherein the body 101 is integrally arranged, the wings 102 are arranged on the left side and the right side of the body 101, the front sides of the wings 102 and the front part of the fuselage 101 are respectively horizontally fixed with corresponding horizontal drive motors 4, the output shafts of the horizontal driving motors 4 are respectively provided with a longitudinal propeller 5, the upper surface of the fuselage 101 is respectively provided with a first limit groove and a second limit groove between the wings 102 and at the rear side of the wings 102, the second limit groove is internally provided with a corresponding fixed wing unmanned aerial vehicle storage battery 6, and the horizontal driving motors 4 are respectively connected to the fixed wing unmanned aerial vehicle storage battery 6 through corresponding fixed wing unmanned aerial vehicle electric controllers 7; the vertical takeoff driving mechanism 2 comprises a square box body 201, the tops of four corners of the square box body 201 are respectively and obliquely and fixedly connected with corresponding arms 202 outwards, one ends, which are not fixedly connected to the square box body 201, of the arms 202 are respectively and fixedly provided with corresponding vertical driving motors 8, output shafts of the vertical driving motors 8 are respectively and fixedly connected with corresponding horizontal propellers 9, corresponding storage batteries 10 for the unmanned rotor wing are fixedly arranged in the square box body 201, and the vertical driving motors 8 are respectively connected to the storage batteries 10 for the unmanned rotor wing through corresponding electric controllers 11 for the unmanned rotor wing; the traction mechanism 3 capable of automatically disengaging comprises an electromagnet 301 which is fixedly arranged in a first limiting groove, the electromagnet 301 is connected to a storage battery 6 for the fixed-wing unmanned aerial vehicle through an electric controller 7 for the fixed-wing unmanned aerial vehicle, the traction mechanism 3 capable of automatically disengaging also comprises a traction rod 302 hinged to the bottom of the square box body 201, and one end, which is not hinged to the square box body 201, of the traction rod 302 is downwards hinged to an iron fixing plate 303 with a shape matched with that of the electromagnet 301; the front end of electro-magnet 301 becomes the integration and upwards the rigid coupling has a corresponding protruding 14 along, protruding inboard along 14 is provided with spacing hole, spacing downthehole fixing device respectively has corresponding compression spring 15, iron fixed plate 303 adsorb connect in behind electro-magnet 301, compression spring 15 become compression state device in between the bottom in iron fixed plate 303 and spacing hole.
A corresponding photoelectric sensor 12 is arranged on the upper surface of the body 101 between the first limiting groove and the second limiting groove, a corresponding identification coating 13 is arranged at the middle position of the bottom of the square box body 201, and the photoelectric sensor 12 is connected to the fixed-wing unmanned aerial vehicle power consumption controller 7.
The horizontal propellers 9 are all positioned above the space formed by the fuselage 101 and the wings 102.
An upturned angle of 8 degrees is formed between the lower plane of the wing 102 and the horizontal plane.
The opening of the second limiting groove is provided with a corresponding cover plate 16 in a covering mode through a screw connection.
The takeoff control process of the invention is as follows:
1) before vertical takeoff, the electromagnet 301 which can automatically separate from the traction mechanism 3 is controlled by the electric controller 7 of the fixed wing unmanned aerial vehicle to be communicated with the storage battery 6 for the fixed wing unmanned aerial vehicle, and then the iron fixing plate 303 which can automatically separate from the traction mechanism 3 is assembled on the electromagnet 301 in an adsorption manner, so that the compression spring 15 is in a compression state and is arranged between the iron fixing plate 303 and the bottom of the limiting hole;
2) in the vertical takeoff process, the vertical driving motor 8 is controlled to start through the electric controller 11 of the rotor unmanned aerial vehicle, and the vertical takeoff driving mechanism 3 is driven to fly upwards through the rotation of a horizontal propeller 9 at the output shaft end of the vertical driving motor 8, as the existing rotor unmanned aerial vehicle does;
3) in the upward flying process of the vertical takeoff driving mechanism 3, the fixed-wing unmanned aerial vehicle body 1 is pulled and driven to take off upwards, after the fixed-wing unmanned aerial vehicle body 1 takes off upwards passively to a certain height, the horizontal driving motor 4 is controlled to be started through the electric controller 7 of the fixed-wing unmanned aerial vehicle, and the conventional horizontal flying of the fixed-wing unmanned aerial vehicle body 1 is realized through the rotation of the longitudinal propeller 5 at the output end of the horizontal driving motor 4;
4) when the fixed-wing unmanned aerial vehicle body 1 conventionally flies to the mark coating 13 corresponding to the photoelectric sensor 12 in a horizontal mode, the photoelectric sensor 12 transmits an electric signal to the electric controller 7 for the fixed-wing unmanned aerial vehicle, and after the electric controller 7 for the fixed-wing unmanned aerial vehicle receives the electric signal transmitted by the photoelectric sensor 12, the electromagnet 301 is controlled to be powered off, so that the fixed-wing unmanned aerial vehicle body 1 is separated from the vertical takeoff driving mechanism 3, and the fixed-wing unmanned aerial vehicle body 1 is ensured to directly enter into conventional flight on the premise of having enough flight height and flight speed;
5) after the electro-magnet 301 outage, compression spring 15 resumes the shape, and produce sufficient elasticity, can enough effectively ensure to break away from between vertical take-off actuating mechanism 3 and the fixed wing unmanned aerial vehicle body 1 and target in place, and can be under the condition that possesses enough flying speed at fixed wing unmanned aerial vehicle body 1, further promote fixed wing unmanned aerial vehicle body 1 and advance with higher speed, effectively further ensure vertical take-off and conventional flight's no trace link up, further ensure that fixed wing unmanned aerial vehicle body stably gets into conventional flight state.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
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| CN201911205485.7A CN110816846B (en) | 2019-11-29 | 2019-11-29 | A fixed-wing UAV capable of vertical take-off |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5000398A (en) * | 1988-10-25 | 1991-03-19 | Rashev Michael S | Flying multi-purpose aircraft carrier and method of V/STOL assisted flight |
| CN106428554A (en) * | 2016-08-31 | 2017-02-22 | 天津曙光天成科技有限公司 | A take-off and landing system and method for a fixed-wing unmanned aerial vehicle |
| CN106628163A (en) * | 2017-01-13 | 2017-05-10 | 厦门大学 | Supersonic unmanned combat air vehicle capable of achieving large-resistance deceleration and vertical take-off and landing |
| CN206476113U (en) * | 2016-08-31 | 2017-09-08 | 天津曙光天成科技有限公司 | A kind of fixed-wing unmanned plane takes off and landing system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3019522B1 (en) * | 2014-04-07 | 2016-05-20 | Airbus Helicopters | REMOVABLE SUSTAINABLE ASSEMBLY OF A GIRAVION AND GIRAVION |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5000398A (en) * | 1988-10-25 | 1991-03-19 | Rashev Michael S | Flying multi-purpose aircraft carrier and method of V/STOL assisted flight |
| CN106428554A (en) * | 2016-08-31 | 2017-02-22 | 天津曙光天成科技有限公司 | A take-off and landing system and method for a fixed-wing unmanned aerial vehicle |
| CN206476113U (en) * | 2016-08-31 | 2017-09-08 | 天津曙光天成科技有限公司 | A kind of fixed-wing unmanned plane takes off and landing system |
| CN106628163A (en) * | 2017-01-13 | 2017-05-10 | 厦门大学 | Supersonic unmanned combat air vehicle capable of achieving large-resistance deceleration and vertical take-off and landing |
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