CN108791868B - A safe and stable transport drone - Google Patents
A safe and stable transport drone Download PDFInfo
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- CN108791868B CN108791868B CN201810858900.8A CN201810858900A CN108791868B CN 108791868 B CN108791868 B CN 108791868B CN 201810858900 A CN201810858900 A CN 201810858900A CN 108791868 B CN108791868 B CN 108791868B
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 21
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/22—Other structures integral with fuselages to facilitate loading, e.g. cargo bays, cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
本发明公开了一种安全稳定的运输无人机，包括机身、旋翼机构和尾翼机构，机身包括由底板、左侧板、右侧板和顶盖，顶盖和底板于机身前后部交汇并围成相对厚度为21%的克拉克Y翼型结构；机身包括中部机身和两侧与中部机身滑动连接的左部机身和右部机身;旋翼机构采用倾转旋翼设计,包括旋翼本体，旋翼本体为对称设置在机身两侧的一对涵道旋翼及相关固定件和控制倾转动作的舵机和倾转控制杆。尾翼机构包括设置在机身后部下方的安装架和与安装架连接并可相对于安装架转动的尾翼本体。本发明具有飞行速度快,航程远,可折叠,安全稳定等优点。
The invention discloses a safe and stable transport UAV, comprising a fuselage, a rotor mechanism and a tail mechanism, wherein the fuselage comprises a bottom plate, a left side plate, a right side plate and a top cover, wherein the top cover and the bottom plate intersect at the front and rear parts of the fuselage and enclose a Clark Y-wing structure with a relative thickness of 21%; the fuselage comprises a middle fuselage and a left fuselage and a right fuselage on both sides of which are slidably connected to the middle fuselage; the rotor mechanism adopts a tilt-rotor design, comprising a rotor body, which is a pair of ducted rotors symmetrically arranged on both sides of the fuselage and related fixings and a steering gear and a tilt control rod for controlling the tilting action. The tail mechanism comprises a mounting frame arranged at the lower rear part of the fuselage and a tail body connected to the mounting frame and rotatable relative to the mounting frame. The invention has the advantages of high flight speed, long range, foldability, safety and stability, etc.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a safe and stable transportation unmanned aerial vehicle.
Background
With the development of modern logistics industry and unmanned aerial vehicle technology, unmanned aerial vehicle transportation is paid attention to more and more express companies and platform booking by combining the current situations of urban expansion and heavy traffic. The unmanned aerial vehicle transportation has advantages of wide transportation range, high delivery speed, no limitation of traffic state and the like. The unmanned aerial vehicle has the following problems that 1, a machine body is not adjustable, the whole structure is large, the occupied space is large, the unmanned aerial vehicle is not suitable for carrying, if the unmanned aerial vehicle is carried and stored before and after use, time and labor are wasted, 2, the machine body lacks aerodynamic design, the flight resistance is large, the flight speed is slower, the lifting force is completely dependent on the thrust of a motor, the component force of the thrust of the motor to the horizontal direction is small, the advancing power is insufficient, the flight power consumption is large, the range is near, 3, no storage space is arranged in the machine body, lifting is adopted when goods are transported, the gravity center position of the unmanned aerial vehicle is disturbed, the maneuverability is reduced, the increasing resistance is large when lifting, the economic benefit is low, 4, the traditional rotor unmanned aerial vehicle lacks redundancy control capability, and a rotor wing is exposed, and potential safety hazard is caused.
The traditional rotor unmanned aerial vehicle has low endurance, low speed and large potential safety hazard, and the traditional fixed wing unmanned aerial vehicle is limited by sites and is not suitable for urban environments. Therefore, an unmanned aerial vehicle design is urgently needed, which can meet the requirement of vertical take-off and landing and has the capability of long-distance high-speed flight.
Disclosure of Invention
The invention aims to provide a safe and stable transportation unmanned aerial vehicle which has a compact structure, an adjustable fuselage, a fast flying speed, a long range and a vertical take-off and landing.
Based on the purposes, the safe and stable unmanned transportation plane comprises a plane body, a rotor mechanism and a tail wing mechanism, wherein the plane body comprises a bottom plate, a left side plate, a right side plate and a top cover, wherein the left side plate and the right side plate are arranged on two sides of the bottom plate, the top cover is of an upward arched streamline structure design, the bottom plate comprises a left bottom plate, a middle bottom plate and a right bottom plate, the top cover comprises a front middle top cover, a rear middle top cover, a left top cover and a right top cover, the left bottom plate, the left side plate and the left top cover jointly form a left part plane body, the right bottom plate, the right side plate and the right top cover jointly form a right part plane body, the middle bottom plate, the front middle top cover and the rear middle top cover jointly form a middle plane body, the left part plane body, the middle plane body and the right plane body are of a hollow structure with an inner cabin, the left part plane body and the right plane body are arranged on the left side and the right side of the middle plane body uniformly and symmetrically, the left part plane body and the right plane body are in sliding connection with the middle part, the left part plane body and the right plane body horizontally move relative to the middle plane body to extend out of the middle plane body to be stored in the middle plane body, and at least one of the middle plane body can be opened relative to the lower cabin plane body and can be opened;
The rotor wing mechanism comprises a rotor wing body, a driving part for controlling tilting operation and a remote control receiver for controlling the driving part, wherein the driving part comprises a pair of steering gears symmetrically arranged on a left machine body and a right machine body, and a tilting control rod connected with the steering gears; the rotor wing body is a pair of duct rotor wings symmetrically arranged on two sides of the fuselage, and the duct rotor wings are connected with the tilting control rod, wherein the duct rotor wings comprise a pair of ducts and a first connecting piece for connecting the pair of ducts, the pair of ducts are symmetrically arranged on two ends of the first connecting piece, and the two ends of the ducts are of a hollow round platform structure formed by smoothly connecting inward protruding arc transition surfaces;
the tail wing mechanism comprises a mounting frame arranged below the rear part of the machine body and a tail wing body which is connected with the mounting frame and can rotate relative to the mounting frame.
The width of the middle machine body is smaller than the sum of the widths of the left machine body and the right machine body, a sliding rail is arranged in the middle of the middle bottom plate, a first sliding block which slides left and right along the sliding rail is arranged at the position, corresponding to the sliding rail, of one end, close to the middle bottom plate, of the left bottom plate, and a second sliding block which slides left and right along the sliding rail is arranged at the position, corresponding to the sliding rail, of one end, close to the middle bottom plate, of the right bottom plate.
The front middle top cover is rotatably connected with the front end of the middle bottom plate through a first pin shaft, a pair of downward first connecting rods are arranged at the front end of the front middle top cover, first pin holes are formed in the first connecting rods, first grooves for accommodating the pair of first connecting rods are formed in corresponding positions on the middle bottom plate, first positioning columns are arranged in the middle of the first grooves, the first positioning columns are of U-shaped structures, the pair of first connecting rods are positioned in U-shaped openings of the first positioning columns, first through holes are formed in the first positioning columns, the first pin shafts penetrate through the first pin holes and are used for rotatably connecting the front middle top cover with the middle bottom plate through the first pin shafts, first compression springs are sleeved on the first pin shafts, one ends of the first compression springs are fixedly connected with the front middle top cover, the other ends of the first compression springs are fixedly connected with the middle bottom plate, and the first compression springs are sleeved on the first pin shafts between the pair of first connecting rods;
The rear middle top cover is rotationally connected with the rear end of the middle bottom plate through a second pin shaft, a pair of downward second connecting rods are arranged at the rear end of the rear middle top cover, second pin holes are formed in the second connecting rods, second grooves for accommodating the pair of second connecting rods are formed in corresponding positions on the middle bottom plate, second positioning columns are arranged in the middle of the second grooves, the second positioning columns are of U-shaped structures, the pair of second connecting rods are located in U-shaped openings of the second positioning columns, second through holes are formed in the second positioning columns, the second pin shafts penetrate through the second pin holes and the second through holes to rotationally connect the rear middle top cover with the middle bottom plate, second compression springs are sleeved on the second pin shafts, one ends of the second compression springs are fixedly connected with the rear middle top cover, the other ends of the second compression springs are fixedly connected with the middle bottom plate, and the second compression springs are sleeved on the second pin shafts located between the pair of second connecting rods.
Preferably, the support frame comprises a motor base and a plurality of support rods uniformly distributed along the circumference of the motor base, wherein the center line of the motor base coincides with the center line of the duct, a motor is arranged on the motor base, a blade is connected to the motor, two ends of the support rods are respectively connected with the motor base and the inner wall of the duct, positioning grooves are uniformly formed in the circumference of the inner wall of the duct, the length of each support rod is adjustable, each support rod comprises a front support rod, an adjusting bolt and a rear support rod, the first ends of the front support rods are inserted into the positioning grooves, the second ends of the front support rods are connected with the first ends of the adjusting bolts, the second ends of the adjusting bolts are connected with the first ends of the rear support rods, and the second ends of the rear support rods are connected with the motor base.
The inner wall of the duct is provided with a noise reduction layer made of sound absorption materials, a first connecting piece connected with the duct is a fixed plate with a noise reduction drain hole, at least one outer side of the fixed plate is provided with a second connecting piece used for connecting a tilting control rod, the second connecting piece is a sleeve matched with the tilting control rod in structure, the second connecting piece is sleeved with the tilting control rod, windward sides of the front end supporting rod and the rear end supporting rod are of arc structures, and sections of the front end supporting rod and the rear end supporting rod are of long water drop structures.
Preferably, the fin body includes the installation pole, the installation pole is fixed in on the mounting bracket and can rotate for the mounting bracket, the both ends rear portion of installation pole is fixed with the tail pole, two tail poles parallel arrangement, all is provided with the vertical stabilizer at the rear end lower surface of every tail pole, is provided with the horizontal stabilizer between two vertical stabilizers.
The mounting frame comprises two clamping plates which are oppositely arranged on the outer side of the lower portion of the tail portion of the unmanned aerial vehicle body, slots for inserting the mounting rods are formed in the inner sides of the clamping plates, an empennage steering engine nacelle is arranged between the two clamping plates, the empennage steering engine nacelle is fixed in the center of the lower portion of the rear portion of the unmanned aerial vehicle body, adjusting teeth are arranged in the middle of the mounting rods and in the empennage steering engine nacelle in a penetrating mode, and the adjusting teeth are fixedly connected with the mounting rods and meshed with gears of the empennage steering engine in the empennage steering engine nacelle.
The tail rod is preferably a carbon fiber rod, the vertical stabilizer and the horizontal stabilizer comprise carbon fiber layers, a radar wave-transmitting layer, a radar wave-absorbing layer and a radar reflecting layer are arranged on the surfaces of the carbon fiber layers, and the radar wave-absorbing layer is a polyimide film layer.
Preferably, the vertical stabilizer and the horizontal stabilizer comprise carbon fiber layers, and an infrared stealth coating is arranged on the surfaces of the carbon fiber layers.
Preferably, the top cover and the bottom plate are intersected at the front and rear parts of the machine body and enclose a Clark Y wing-shaped structure with the relative thickness of 21%, and the cross section of the machine body is of a double-convex wing structure or a plane-convex wing structure.
Compared with the prior art, the invention has the beneficial effects that:
1. The airframe of the invention is of a streamline structure, the cross section of the airframe of the lifting body is of a Clark Y airfoil with the relative thickness of 21%, the resistance is small, the lift coefficient is large, the provided lift can reduce the burden of a motor and the electric energy consumption. And the lift body design brings sufficient built-in space, can be used to store the goods in the hollow cabin, and the resistance when unmanned aerial vehicle flies can not be increased to the goods, and economic benefits is high. When not transporting goods, left portion fuselage and right part fuselage can accomodate to middle part fuselage in the relative middle part fuselage horizontal migration, make unmanned aerial vehicle compact structure, reduced unmanned aerial vehicle's size, portable.
2. The rotor wing adopts a tilting rotor wing design, and when the unmanned aerial vehicle takes off, a pair of ducted rotor wings are in a horizontal state relative to the ground, and the thrust direction is vertically downward to push the unmanned aerial vehicle to vertically ascend. At this moment, unmanned aerial vehicle's steering and motion accessible remote control receiver control steering wheel action, steering wheel drive duct rotor through tilting the control lever and rotate, adjust duct rotor inclination, provide horizontal component and turn to. Compared with the traditional unmanned aerial vehicle, the steering mode is more efficient in steering by adjusting the rotating speed of the motor, the machine body can be kept horizontal all the time, and the cargo transportation is facilitated. When the unmanned aerial vehicle rises to the cruising height, the steering engine drives the bypass rotor to rotate to be vertical relative to the ground, and at the moment, the thrust direction is backward so as to reach higher speed. The gravity of the fuselage is offset by the lift provided by the fuselage. When unmanned aerial vehicle turns, a pair of duct rotor can take place relative slope according to turn angle and turning direction, and corresponding duct rotor is rotated to suitable angle to the steering wheel drive respectively, provides steering torque. Meanwhile, the vector steering can be realized through adjusting the thrust, and through the thrust difference. When the unmanned aerial vehicle flies, the overall stability is good.
3. The duct in the duct rotor is of a hollow round platform structure with two ports formed by smoothly connecting inward convex arc transition surfaces, in the flying process of the unmanned aerial vehicle, the windward side of the duct is of a flaring structure, and the leeward side is of a necking structure. And the inner wall of the duct is provided with a noise reduction layer made of sound absorption materials, so that the effect of blocking sound waves is achieved to a certain extent, noise pollution is reduced, and the duct is suitable for urban environments. Meanwhile, due to the design of the duct, the problem that the exposed propeller of the existing unmanned aerial vehicle is wound on branch wires or broken due to collision with obstacles in the flying process and falls from high places to hurt people is solved. The support frame is arranged in the duct, and can improve the structural strength of the duct, thereby being beneficial to the safety and stability of flight. The length of the support rod is adjustable, so that the support rod is convenient to install in place between the quick duct and the support frame or is convenient to take out the support frame from the duct for replacement, maintenance and cleaning, and meanwhile, the support rod is designed into a length-adjustable structure, so that the support frame can be suitable for ducts with different apertures. The section of the support rod is of a long water drop type structure, so that the support rod plays a role in supporting and fixing the duct, and reduces the air resistance acting on the support rod.
In addition, the duct in the invention can also play a role in controlling the posture of the airframe in emergency situations (such as the loss of power in the air). The common four-rotor unmanned aerial vehicle can be completely out of control when a certain motor loses power, and the unmanned aerial vehicle is damaged by falling to the ground and can threaten the safety of property or personnel on the ground. According to the invention, even if the motor loses power completely, the direction of the air flow passing through the motor can be changed by changing the inclination angle of the duct, so that the reactive force is obtained to control the unmanned aerial vehicle to avoid people or objects on the ground, and the safety of the unmanned aerial vehicle and goods can be protected. In normal cruise flight, the unmanned aerial vehicle flight attitude can also be controlled in this manner.
4. The drag-reducing and draining holes are arranged on the duct fixing plate and are a pair of heart-shaped through holes which are arranged on two inner sides of the fixing plate in a mirror image mode, part of air flow passes through the drag-reducing and draining holes in the unmanned aerial vehicle flight process, the drag effect of the air flow in the unmanned aerial vehicle flight process can be reduced by the drag-reducing and draining holes, meanwhile, the weight of the fixing plate can be reduced, materials are saved, the integral weight of the unmanned aerial vehicle is reduced, and on the other hand, the heart-shaped drag-reducing and draining holes are formed to increase the integral appearance of the unmanned aerial vehicle, and the visual effect is good.
5. The tail wing of the unmanned aerial vehicle is mainly designed for stable flight in cruising, is of an automatically foldable and unfolding structure, is convenient to carry and saves space, simultaneously maintains the function of controlling the flight attitude by using an elevator, and can rotate up and down to adjust the elevation angle of the unmanned aerial vehicle in cruising. The empennage is made of carbon fiber materials, has light weight and high strength, is not easy to deform when bearing impact force or pressure, and reduces the maintenance and replacement rate of the empennage. In addition, in order to avoid hidden demand to use unmanned aerial vehicle by monitoring, this fin still can attach stealthy coating, has the function of preventing the radar and prevents infrared function, can play stealthy effect.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of the present invention;
Fig. 2 is a schematic structural diagram of a unmanned aerial vehicle body in the first embodiment;
FIG. 3 is an enlarged view of FIG. 2A;
FIG. 4 is a schematic view of the left and right fuselage of FIG. 2 received within the middle fuselage;
FIG. 5 is a schematic view showing the structure of the connection of the left and right bottom plates with the middle bottom plate in the first embodiment;
FIG. 6 is a schematic view of a ducted rotor in accordance with an embodiment;
FIG. 7 is a schematic view of the structure of the tail body according to the first embodiment;
FIG. 8 is a schematic view of a front end support bar according to the first embodiment;
fig. 9 is a schematic structural view of a fuselage in the second embodiment.
In the figure, a left fuselage 01, a middle fuselage 02, a right fuselage 03, a bottom plate 1, a left bottom plate 101, a first sliding block 1011, a middle bottom plate 102, sliding rails 1021, a right bottom plate 103, a second sliding block 1031, a left side plate 2, a right side plate 3, a top cover 4, a front middle top cover 401, a rear middle top cover 402, a left top cover 403, a right top cover 404, a first pin shaft 5, a first connecting rod 6, a first groove 7, a first positioning column 8, a first compression spring 9, a tilting control rod 10, a ducted rotor 11, a duct 12, a first connecting piece 13, a drag-reducing drainage hole 14, a second connecting piece 15, a motor base 16, a supporting rod 17, a front supporting rod 1701, an adjusting bolt 1702, a rear supporting rod 1703, a mounting rod 18, a tail rod 19, a vertical stabilizer 20, a horizontal stabilizer 21, a clamping plate 22, a steering engine hanging bin 23 and tail adjusting teeth 24 are shown.
Detailed Description
The invention will be described in further detail with reference to the drawings, wherein it is apparent that the embodiments described are the best mode of practicing the invention.
As shown in fig. 1-8, a safe and stable transportation unmanned aerial vehicle comprises a fuselage, a rotor mechanism and a tail wing mechanism, wherein the fuselage comprises a bottom plate 1, a left side plate 2 and a right side plate 3 on two sides of the bottom plate 1, and a top cover 4 for connecting the tops of the left side plate 2 and the right side plate 3, the top cover 4 is of an upward arched streamline structural design, the bottom plate 1 is of a downward arched streamline structural design, the upward arched amplitude of the top cover 4 is larger than that of the bottom plate 1, the top cover 4 and the bottom plate 1 meet at the front part and the rear part of the fuselage and enclose a clark Y wing structure with a relative thickness of 21% (the ratio of the maximum thickness to the chord length is called as the relative thickness), and the cross section of the fuselage is of a biconvex wing structure. The machine body structural design has the advantages of small resistance and large lift coefficient, and the provided lift force can reduce the burden of a motor and reduce the electric energy consumption.
The floor panel 1 includes a left floor panel 101, a middle floor panel 102, and a right floor panel 103, and the roof panel 4 includes a front middle roof panel 401, a rear middle roof panel 402, a left roof panel 403, and a right roof panel 404.
As shown in fig. 2, the left bottom plate 101, the left side plate 2, and the left top cover 403 together constitute a left fuselage 01, the right bottom plate 103, the right side plate 3, and the right top cover 404 together constitute a right fuselage 03, and the middle bottom plate 102, the front middle top cover 401, and the rear middle top cover 402 together constitute a middle fuselage 02. The left part machine body 01, the middle part machine body 02 and the right part machine body 03 are hollow structures with inner cabins, the left part machine body 01 and the right part machine body 03 are identical in structure and symmetrically arranged on the left side and the right side of the middle part machine body 02, and the left part machine body 01 and the right part machine body 03 are in sliding connection with the middle part machine body 02.
As shown in fig. 5, a slide rail 1021 is provided in the middle of the middle bottom plate 102, a first slider 1011 sliding left and right along the slide rail 1021 is provided on the left bottom plate 101 near the end of the middle bottom plate 102 corresponding to the slide rail 1021, a second slider 1031 sliding left and right along the slide rail 1021 is provided on the right bottom plate 103 near the end of the middle bottom plate 102 corresponding to the slide rail 1021, and the left and right bodies 01 and 03 move horizontally with respect to the middle body 02 to extend/be accommodated in the inner compartment of the middle body 02. The width of the middle body 03 is about equal to but slightly smaller than the sum of the widths of the left body 01 and the right body 02, and the width of the middle body 02 is smaller than the sum of the widths of the left body 01 and the right body 03 by 2cm, so that the left body 01 and the right body 03 are stored in the middle body 02 as much as possible, and part of the left body 03 is still exposed and is conveniently extracted.
The front middle roof 401 and the rear middle roof 402 are rotatably connected up and down with the middle floor 102 to open/close the inner compartment of the middle fuselage 02. When not transporting goods, left part fuselage 01 and right part fuselage 03 are accomodate to middle part fuselage 02 in, make unmanned aerial vehicle compact structure, reduced unmanned aerial vehicle's size, portable stores up the goods in the interior cabin of middle part fuselage 02 when needing to transport the goods, and the resistance when unmanned aerial vehicle flies can not be increased to the goods, and economic benefits is high.
As shown in FIG. 3, the front middle top cover 401 is rotatably connected with the front end of the middle bottom plate 102 through a first pin shaft 5, a pair of downward first connecting rods 6 are arranged at the front end of the front middle top cover 401, first pin holes are formed in the first connecting rods 6, first grooves 7 for accommodating the pair of first connecting rods 6 are formed in corresponding positions on the middle bottom plate 102, first positioning columns 8 are arranged in the middle of the first grooves 7, the first positioning columns 8 are of a U-shaped structure, the pair of first connecting rods 6 are located in U-shaped openings of the first positioning columns 8, first through holes are formed in the first positioning columns 8, the first pin shaft 5 penetrates through the first pin holes and the first pin shaft to rotatably connect the front middle top cover 401 with the middle bottom plate 102, first compression springs 9 are sleeved on the first pin shaft 5, one ends of the first compression springs 9 are fixedly connected with the front middle top cover 401, the other ends of the first compression springs 9 are fixedly connected with the middle bottom plate 102, and the first compression springs 9 are sleeved on the first pin shaft 5 located between the pair of first connecting rods 6. So that the front middle roof 401 is closed firmly.
The rear middle top cover 402 is rotationally connected with the rear end of the middle bottom plate 102 through a second pin shaft, a pair of downward second connecting rods are arranged at the rear end of the rear middle top cover 402, second pin holes are formed in the second connecting rods, second grooves for accommodating the pair of second connecting rods are formed in corresponding positions on the middle bottom plate 102, second positioning columns are arranged in the middle of the second grooves, are of U-shaped structures, are located in U-shaped openings of the second positioning columns, second through holes are formed in the second positioning columns, the second pin shaft penetrates through the second pin holes and the second through holes to rotationally connect the rear middle top cover with the middle bottom plate 102, second compression springs are sleeved on the second pin shafts, one ends of the second compression springs are fixedly connected with the rear middle top cover 402, the other ends of the second compression springs are fixedly connected with the middle bottom plate 102, and the second compression springs are sleeved on the second pin shafts located between the pair of second connecting rods. So that rear middle header 402 closes securely.
The rotor mechanism comprises a rotor body, a driving part for controlling the tilting motion of the rotor and a remote control receiver for controlling the driving part, wherein the driving part comprises a pair of steering gears symmetrically arranged on two sides of a machine body and a tilting control rod 10 connected with the steering gears, and the steering gears are a left steering gear and a right steering gear which are respectively arranged in a left machine body 01 and a right machine body 03. The electronic devices required for controlling the flight are evenly distributed in the cabins of the left fuselage 01 and the right fuselage 03 in terms of weight and center of gravity position.
The tilting control rod 10 comprises a left tilting control rod connected with a left steering engine and a right tilting control rod connected with a right steering engine, wherein one end of the left tilting control rod, which is close to the left steering engine, is fixedly connected with left adjusting teeth, and the left adjusting teeth are meshed with steering engine gears of the left steering engine. One end of the right tilting control rod, which is close to the right steering engine, is fixedly connected with a right adjusting tooth, and the right adjusting tooth is meshed with a steering engine gear of the right steering engine. The left/right steering engine can drive the tilting control rod 10 to rotate through corresponding left/right adjusting teeth, and the swinging direction of the rotor body is adjusted through the tilting control rod 10, so that the angle of the rotor body is adjusted, and the angle is adjusted according to the requirements of different flight angles.
As shown in fig. 1, the rotor body is a pair of ducted rotors 11 symmetrically disposed at both sides of the fuselage, and the ducted rotors 11 are connected to a tilt lever 10.
As shown in fig. 6, the ducted rotor 11 includes a pair of ducts 12 and a first connecting member 13 for connecting the pair of ducts, the pair of ducts 12 are symmetrically disposed at two ends of the first connecting member 13, and the ducts 12 are hollow truncated cone structures formed by smoothly connecting two ports through an inward protruding arc-shaped transition surface. In the flight process of the unmanned aerial vehicle, the windward side of the duct 11 is of a flaring structure and the leeward side is of a necking structure, the structural design can comb air flow, reduce vortex interference between rotors, further improve the pneumatic efficiency of the rotors, play a role in guiding wind, change phases, increase the air flow density through the blades and increase thrust. Meanwhile, the design of the duct 12 solves the problems that the exposed propeller of the existing unmanned aerial vehicle is wound with branch wires or broken due to collision with obstacles in the flying process, and falls from a high place to hurt people.
In addition, the duct 12 of the present invention itself may also function to control the attitude of the fuselage in emergency situations (e.g., loss of power in the air). The common four-rotor unmanned aerial vehicle can be completely out of control when a certain motor loses power, and the unmanned aerial vehicle is damaged by falling to the ground and can threaten the safety of property or personnel on the ground. According to the invention, even if the motor loses power completely, the inclination angle of the bypass rotor 11 can be changed to change the direction of the air flow passing through the bypass rotor, so that the reactive force is obtained to control the unmanned aerial vehicle to avoid people or objects on the ground, and the safety of the unmanned aerial vehicle and goods can be protected. In normal cruise flight, the unmanned aerial vehicle flight attitude can also be controlled in this manner.
The inner wall of the duct 12 is provided with a noise reduction layer made of sound absorption materials, and the noise reduction layer plays a role in blocking sound waves to a certain extent, so that noise pollution is reduced. The first connecting piece 13 of the connecting duct 12 is a fixed plate with the drag-reducing and leakage-discharging holes 14, the drag-reducing and leakage-discharging holes 14 are a pair of heart-shaped through holes which are arranged on two inner sides of the fixed plate in a mirror image mode, part of air flow passes through the drag-reducing and leakage-discharging holes 14 in the unmanned aerial vehicle flight process, the drag effect of the air flow in the unmanned aerial vehicle flight process can be reduced by the drag-reducing and leakage-discharging holes 14, meanwhile, the weight of the fixed plate can be reduced, materials are saved, the integral weight of the unmanned aerial vehicle is reduced, and on the other hand, the heart-shaped drag-reducing and leakage-discharging holes 14 are formed to increase the integral appearance of the unmanned aerial vehicle, and the visual effect is good. The two outer sides of the fixed plate are provided with second connecting pieces 15 for connecting the tilting control rods 10. The second connecting piece 15 is the sleeve that is fit with the structure of the tilting control rod 10, and the second connecting piece 15 is sleeved with the tilting control rod 10, so that the daily disassembly, overhaul and maintenance are convenient.
The duct 12 and the first connecting piece 13 and the second connecting piece 15 are of an integrated structure, so that the overall structural strength of the duct rotor 11 is high, and the service life is long. Meanwhile, one tilting control rod 10 can control two ducts 12 on one side, so that the structural complexity of the unmanned aerial vehicle is reduced.
The inside support frame that is equipped with of duct 12, the support frame includes motor cabinet 16 and four bracing pieces 17 along motor cabinet 16 circumference equipartition, the central line of motor cabinet 16 coincides with duct 12 central line, be equipped with the motor on the motor cabinet 16, be connected with the paddle (not shown in the figure) on the motor, the both ends of four bracing pieces 17 are connected with motor cabinet 16 and duct 12 inner wall respectively, form the cross support frame, the cross support frame can improve duct 12 structural strength, improve duct 12 whole wind resistance stability, thereby help flight safety and stability.
The inner wall circumference of duct 12 evenly is provided with the constant head tank, bracing piece 17 length adjustable, bracing piece 17 all include front end bracing piece 1701, adjusting bolt 1702, rear end bracing piece 1703, and the cross-section of front end bracing piece 1701 and rear end bracing piece 1703 is the long water droplet shape structure that the structure is unanimous, and the structure schematic diagram of front end bracing piece as shown in fig. 8, front end bracing piece 1701 cross-section be the long water droplet shape structure that the structure is unanimous, long water droplet shape structure for bracing piece 17 plays the effect of supporting fixed duct 12 promptly, has reduced the air resistance who acts on bracing piece 17 again.
The first end of the front end supporting rod 1701 is inserted into the positioning groove, the second end of the front end supporting rod 1701 is connected with the first end of the adjusting bolt 1702, the second end of the adjusting bolt 1702 is connected with the first end of the rear end supporting rod 1703, and the second end of the rear end supporting rod 1703 is connected with the motor base 16.
The length of the supporting rod 17 is adjustable, and the supporting rod 17 is adjusted to facilitate the rapid installation of the duct 12 and the supporting frame in place, or the supporting frame is conveniently taken out of the duct 12 for replacement, maintenance and cleaning, and meanwhile, the supporting rod 17 is designed into a length-adjustable structure, so that the supporting frame can be suitable for ducts 12 with different apertures.
The empennage mechanism comprises a mounting frame and an empennage body, wherein the mounting frame is arranged below the rear part of the fuselage, and the empennage body is connected with the mounting frame and can rotate around an X axis relative to the mounting frame.
As shown in fig. 7, the tail body includes a mounting rod 18, tail rods 19 are fixed at the rear parts of two ends of the mounting rod 18, the two tail rods 19 are arranged in parallel, vertical stabilizers 20 are arranged on the lower surface of the rear end of each tail rod 19, and a horizontal stabilizer 21 is arranged between the two vertical stabilizers 20.
The mounting frame comprises two clamping plates 22 which are oppositely arranged below the rear part of the machine body, slots into which the mounting rods 18 are inserted are formed in the opposite inner sides of the clamping plates 22, and the mounting rods 18 are inserted into the slots and can rotate relative to the clamping plates 22.
The lower surface level of cardboard 22 sets up, and bottom horizontally cardboard 22 can play unmanned aerial vehicle undercarriage's effect to improve the supportability to the fuselage, make the landing steady. The horizontal cross section of the clamping plate 22 is in a long water drop shape, so that air resistance is reduced.
An empennage steering engine nacelle 23 is arranged between the two clamping plates 22, the empennage steering engine nacelle 23 is fixed at the center below the rear part of the fuselage, the lower surface of the empennage steering engine nacelle 23 is arranged as an arc tangent to the lower surface of the middle fuselage 02, and the upper surface of the empennage steering engine nacelle 23 is arranged as an arc tangent to the upper surface of the middle fuselage 02, so that the air resistance caused by the empennage steering engine nacelle 23 is minimized, and partial lift force is caused.
And tail adjusting teeth 24 are arranged in the middle of the mounting rod 18 and positioned in the tail steering engine nacelle 23 in a penetrating way, and the tail adjusting teeth 24 are fixedly connected with the mounting rod 18 and meshed with tail steering engine gears in the tail steering engine nacelle 23. The tail steering engine can drive the mounting rod 18 to rotate through the tail adjusting teeth 24, and the swinging direction of the tail rod 19 is adjusted through the mounting rod 18, so that the angle of the tail body is adjusted, and the tail steering engine is adjusted according to the requirements of different flight angles.
The carbon fiber is a novel fiber material of high-strength and high-modulus fiber with carbon content more than 95%. The carbon fiber is made of microcrystalline graphite material obtained by stacking organic fibers such as lamellar graphite microcrystals along the axial direction of the fibers and performing carbonization and graphitization treatment, and the carbon fiber is 'soft outside and rigid inside', has lighter mass than metal aluminum, but has higher strength than steel, and has the characteristics of corrosion resistance and high modulus, so that the tail rod 19 is preferably a carbon fiber rod for reducing the weight of the tail wing.
The tail body is fixed at the rear part of the unmanned aerial vehicle body through the mounting frame, so that balance can be kept when the unmanned aerial vehicle flies on one hand, and the tail body can be folded downwards relative to the unmanned aerial vehicle body, and when the unmanned aerial vehicle needs to be stored and arranged, the tail body is folded to the lower part of the middle body 02 so as to save space. When unmanned aerial vehicle needs flight operation, then rise to the cruising altitude at unmanned aerial vehicle, expand the fin when carrying out rotor tilting. In addition, the mounting rod 18, the tail rod 19, the vertical stabilizer 20 and the horizontal stabilizer 21 are integrally designed, and the mounting rod 18 can rotate relative to the mounting frame so as to enable the tail body to synchronously rotate, thereby being convenient for controlling the inclination and the folding of the tail body.
When the unmanned aerial vehicle is used, when articles are required to be transported, the left part machine body 01 and the right part machine body 03 are pulled out of the middle part machine body 02, the inner cabin of the middle part machine body 02 is opened, the articles are placed in the inner cabin, then the inner cabin is closed, and the unmanned aerial vehicle is controlled to fly through the remote controller.
When the unmanned aerial vehicle takes off, the pair of duct rotors 11 are in a horizontal state relative to the ground, and the thrust direction is vertically downward to push the unmanned aerial vehicle to vertically ascend. At this time, the steering and movement of the unmanned aerial vehicle can control the corresponding steering engine to act through the remote control receiver, the left/right steering engine drives the bypass rotor 11 to rotate through the corresponding tilting control rod, the inclination angle of the bypass rotor 11 is adjusted, and the provided horizontal component force pushes the airframe to rotate. Compared with the traditional unmanned aerial vehicle, the steering mode is more efficient in steering by adjusting the rotating speed of the motor, the machine body can be kept horizontal all the time, and the cargo transportation is facilitated.
When the unmanned aerial vehicle rises to the cruising height, the unmanned aerial vehicle automatically expands the tail wing, and the left/right steering engine drives the corresponding ducted rotor wing 11 to rotate to be vertical relative to the ground. At this time, the thrust direction is backward, so that higher speed can be achieved, and the gravity of the machine body is counteracted by virtue of the lifting force provided by the machine body. When the unmanned aerial vehicle turns, the pair of duct rotors 11 can incline relatively according to the turning angle and the turning direction, and the left/right steering engine drives the corresponding duct rotors 11 to rotate to a proper angle respectively to provide steering torque. Meanwhile, the thrust can be adjusted, vector steering is realized through thrust difference, and the overall stability is good when the unmanned aerial vehicle flies.
Example two
The scheme of the second embodiment is basically the same as that of the first embodiment, and the difference is that, as shown in fig. 8, the cross section of the fuselage is in a plane-convex wing structure, i.e. the top cover 4 protrudes upwards in an arc, the bottom plate 2 is in a flat straight line except for the front edge, and the design of the fuselage structure is convenient for mass production.
Example III
The third embodiment is basically the same as the first embodiment in the technical scheme, and is different in that the vertical stabilizer and the horizontal stabilizer both comprise a carbon fiber layer, and a radar wave-transmitting layer, a radar wave-absorbing layer and a radar reflecting layer are arranged on the surface of the carbon fiber layer.
Preferably, the radar absorbing layer is a polyimide film layer.
On one hand, the empennage bottom layer of the carbon fiber layer can prevent the unmanned aerial vehicle from deforming and being damaged when encountering severe weather such as strong wind during flight, on the other hand, the empennage bottom layer is light in weight, can reduce the weight of the unmanned aerial vehicle, and is convenient to carry.
Through setting up radar wave-transmitting layer, radar wave-absorbing layer and radar reflection stratum, reduced unmanned aerial vehicle RCS, can make unmanned aerial vehicle have the stealthy effect of radar, can realize investigation or transportation operation under unmanned condition of perceiving.
Example IV
The fourth embodiment is basically the same as the first embodiment in the technical scheme, and is different in that the vertical stabilizer and the horizontal stabilizer both comprise carbon fiber layers, and an infrared stealth coating is arranged on the surfaces of the carbon fiber layers.
The bottom layer of carbon fiber layer can prevent on the one hand that unmanned aerial vehicle from meetting deformation when bad weather such as strong wind when flying, impaired, and on the other hand its quality is light, can reduce unmanned aerial vehicle weight, conveniently carries.
The design of the infrared stealth coating can enable the unmanned aerial vehicle to have an infrared stealth effect, and can realize investigation or transportation operation under the condition of no human perception.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (7)
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| CN109484635B (en) * | 2018-12-24 | 2021-01-29 | 沈阳旋飞航空技术有限公司 | A kuppe for oiling move unmanned aerial vehicle's rotor |
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| CN113086208B (en) * | 2019-12-23 | 2024-03-05 | 深圳市卓派自动化技术有限公司 | Flow guide piece, cargo box, automatic storage cabinet and transfer center |
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