CN114537654B - Wing body fusion tilting three-rotor unmanned aerial vehicle with switchable power - Google Patents

Abstract

The invention discloses a wing-body fusion tilting three-rotor unmanned aerial vehicle with switchable power. Wing; the rear of the frame is provided with a horizontal empennage, and the two ends of the horizontal empennage are connected with the rear end both sides of the frame through the vertical empennage; The rear end of the frame is provided with tilt rotor three; the frame is provided with landing gear, and the interior of the nacelle is provided with a control system and a power supply. electric connection. The invention also discloses a method for using the wing-body fusion tilting trirotor unmanned aerial vehicle with switchable power. The present invention adopts the above-mentioned wing body fusion tilting three-rotor unmanned aerial vehicle with switchable power and its use method, so that the unmanned aerial vehicle has the ability of vertical take-off and landing and hovering, and has a large load, a large internal space, and small flight resistance. Low power consumption and long battery life.

Description

A wing-body fusion tilting trirotor UAV with switchable power

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a wing-body fusion tilting three-rotor unmanned aerial vehicle with switchable power.

Background technique

In recent years, the drone industry has developed rapidly, especially industrial-grade drones have begun to serve various fields, and traditional fixed-wing and multi-rotor drones have been unable to do what they want in the industry. Although fixed-wing has the advantages of large load, long endurance, low power consumption, and low cost, it is difficult to take off and land in complex terrain. Multi-rotors have relative advantages in low altitude and low speed, and have vertical take-off and landing functions, but they have disadvantages such as small load capacity, high power consumption, and short battery life.

Tilt-rotor UAV is a new type of UAV with dual functions of fixed wing and multi-rotor. It can not only take off and land vertically and hover in more complex terrain like multi-rotor, but also realize large load like fixed-wing. , Efficient, high-speed cruise. With rapid deployment and complex environment adaptability, the application prospect is very broad. At present, the common tilt-rotor UAVs are two-power tilting and four-power tilting UAVs. Due to the unbalanced moment during the tilting process of the UAV tilted by two powers, the attitude of the aircraft will be unstable. The power system of the UAV with four power tilts is complicated. The addition of more power packs will increase the structural weight of the UAV, reduce the efficiency of the battery, and seriously shorten the battery life. Most of the power packs adopt a synchronous drive design, which cannot distribute and adjust the power output according to actual needs, which seriously consumes battery power and shortens the voyage.

Most of the common tilt-rotor UAVs adopt a simple combined structure of fixed wings and multi-rotors, which has disadvantages such as poor aerodynamic characteristics, large resistance, and small loading space. And most of them use non-detachable fixed connection, which takes up a lot of space and is inconvenient to disassemble and transfer.

Contents of the invention

The purpose of the present invention is to provide a wing-body fusion tilting trirotor UAV with switchable power and its use method, so as to solve the technical problems mentioned in the above-mentioned background technology.

In order to achieve the above object, the present invention provides a wing-body fusion tilting three-rotor unmanned aerial vehicle with switchable power, including a fuselage, the fuselage is fixed on the frame, the interior of the fuselage is provided with a cabin, and the two sides of the fuselage Right wing and left wing are respectively arranged on the side; the rear of the frame is provided with a horizontal empennage, the horizontal empennage is positioned at the rear of the fuselage, and the two ends of the horizontal empennage are connected with the rear end both sides of the frame through the vertical empennage; Tilt rotor 1 and tilt rotor 2 are respectively arranged on both sides of the front end, and tilt rotor 3 is arranged at the rear end of the frame; landing gear is arranged on the frame, and a control system and a power supply are arranged inside the cabin. Rotor 1, tilt rotor 2 and tilt rotor 3 are all electrically connected with the control system.

Preferably, the fuselage, the right wing and the left wing are detachable split structures, and adopt the wing-body fusion aerodynamic shape design.

Preferably, the vertical empennage is connected to the frame by bolts, and the horizontal empennage is connected to the vertical empennage by bolts.

Preferably, the first tilt rotor, the second tilt rotor and the third tilt rotor have the same structure and are distributed in an isosceles triangle.

Preferably, the tilt rotor one includes a steering gear, the steering gear is connected with the control system, the steering gear is arranged on the frame through the mounting seat, a rotating bracket is arranged on the steering gear, a motor is arranged on the rotating bracket, and the output shaft of the motor A propeller is arranged on it.

Preferably, there are four undercarriages, and the four undercarriages are evenly arranged on both sides of the fuselage, and the undercarriages are connected to the frame by bolts.

Preferably, the bottom of the undercarriage is provided with a flange inclined outward at 45°.

Preferably, the control system includes an attitude control unit, a data transmission unit and a remote sensing communication unit.

The above method of using the wing-body fusion tilting trirotor UAV with switchable power includes:

S1. Turn on the power, the propellers of tiltrotor 1, tiltrotor 2 and tiltrotor 3 are all in a horizontal state, and the UAV lifts off in multi-rotor mode;

S2. After the UAV lifts to the predetermined height, it hovers, and the control system controls the rotating brackets of the first tilt rotor, the second tilt rotor and the third tilt rotor to rotate to the transition position through the steering gear. When the UAV accelerates to After the minimum flight speed, the steering gear controls the further rotation of the rotating bracket, so that the propeller turns to the vertical state and switches to the fixed-wing mode;

S3. According to the needs of different tasks, the independent control of tilt rotor 1, tilt rotor 2 and tilt rotor 3 can be realized through the control system in the fixed-wing cruising state, and switching can be performed under the three power modes of single engine, double engine and three engines .

Preferably, the single engine is that the motors of the first and second tilt rotors stop working, and enter the standby state, and the motors of the third tilt rotor work as power output; the double engines are that the motors of the third tilt rotor stop working , enter the standby state, the motors of the first tilt rotor and the second tilt rotor work as power output;

The advantages and positive effects of the wing-body fusion tilting trirotor UAV with switchable power according to the present invention are:

1. There are fixed left wing and right wing on the fuselage, tilt rotor one, tilt rotor two and tilt rotor three are set on the frame, tilt rotor one, tilt rotor two and tilt rotor The steering gear of Sanshang is connected with the control system, and the control system controls the rotation of the rotating bracket through the steering gear to adjust the power direction, so that the UAV can be adjusted in two modes of fixed wing and multi-rotor, and can realize vertical take-off and landing and suspension stop function.

2. In the fixed-wing mode, select the power output mode through the control system, and the propellers on the tilt rotor 1, tilt rotor 2 and tilt rotor 3 can be selected to stand by or work according to the needs, which is beneficial to reduce energy consumption and extend the battery life .

3. The UAV adopts the wing-body fusion aerodynamic shape design. The wing-body fusion aerodynamic shape not only has a good aerodynamic shape, reduces the pressure difference resistance, and greatly reduces the flight resistance; but also increases the volume of the cabin, making the UAV Has a large load space.

The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

Description of drawings

Fig. 1 is a multi-rotor state structure schematic diagram of an embodiment of a wing-body fusion tilting tri-rotor UAV with switchable power according to the present invention;

Fig. 2 is a schematic structural diagram of the propeller multi-rotor mode of an embodiment of a wing-body fusion tilting three-rotor drone with switchable power according to the present invention;

Fig. 3 is a schematic structural diagram of a propeller fixed-wing model embodiment of a wing-body fusion tilting three-rotor drone with switchable power according to the present invention;

Fig. 4 is a schematic structural diagram of a single-engine power mode embodiment of a wing-body fusion tilting three-rotor drone with switchable power according to the present invention;

FIG. 5 is a schematic structural diagram of a dual-engine power mode embodiment of a wing-body fusion tilting trirotor UAV with switchable power according to the present invention;

Fig. 6 is a schematic structural diagram of a three-engine power mode embodiment of a wing-body fusion tilting tri-rotor drone with switchable power according to the present invention.

reference sign

1. Fuselage; 2. Nacelle; 3. Right wing; 4. Left wing; 5. Horizontal tail; 6. Vertical tail; 7. Frame; 8. Landing gear; 9. Tilt rotor one; 10. 11. Tilt rotor 3; 12. Mounting base; 13. Steering gear; 14. Rotary bracket; 15. Motor; 16. Propeller.

Detailed ways

The technical solutions of the present invention will be further described below through the accompanying drawings and embodiments.

Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by those skilled in the art to which the present invention belongs. "First", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Comprising" or "comprising" and similar words mean that the elements or items appearing before the word include the elements or items listed after the word and their equivalents, without excluding other elements or items. Words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "Down", "Left", "Right" and so on are only used to indicate the relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

Example

FIG. 1 is a schematic diagram of the multi-rotor state structure of an embodiment of a wing-body fusion tilting tri-rotor UAV with switchable power according to the present invention. As shown in the figure, a wing body fusion tilting trirotor UAV with switchable power includes a fuselage 1 fixed on a frame 7 . A nacelle 2 is provided inside the fuselage 1 . The two sides of the fuselage 1 are respectively provided with a right wing 3 and a left wing 4, and the fuselage 1, the right wing 3 and the left wing 4 are detachable split structures, and adopt a wing-body fusion aerodynamic shape design. The wing-body fusion aerodynamic shape not only has a good aerodynamic shape, reduces the pressure difference resistance, and greatly reduces the flight resistance; but also increases the volume of the cabin 2, so that the UAV has a larger loading space.

The rear of the frame 7 is provided with a horizontal stabilizer 5, and the horizontal stabilizer 5 is positioned at the rear of the fuselage 1. Both ends of the horizontal stabilizer 5 are connected to both sides of the rear end of the frame 7 through the vertical stabilizer 6 . The bottom of vertical empennage 6 is provided with ferrule, and ferrule is set on the tail end of frame 7, and ferrule is tightened by bolt, thereby vertical empennage 6 and frame 7 are detachably connected by bolt and ferrule. The horizontal empennage 5 and the vertical empennage 6 are also connected by bolt disassembly. The horizontal tail 5, the vertical tail 6 and the frame 7 are disassembled and connected, which is convenient for disassembly, storage and transfer of the drone.

Fig. 2 is a schematic structural diagram of the propeller multi-rotor mode of an embodiment of a wing-body fusion tilting tri-rotor UAV with switchable power according to the present invention. Schematic diagram of the structure of the propeller fixed-wing mode of the man-machine embodiment. As shown in the figure, a tilt rotor one 9 and a tilt rotor two 10 are respectively arranged on both sides of the front end of the frame 7, and a tilt rotor three 11 is arranged on the rear end of the frame 7, a tilt rotor one 9, a tilt rotor Two 10 and three tilt rotors 11 have the same structure, and are distributed in an isosceles triangle. The tilt rotor one 9 includes a steering gear 13, and the steering gear 13 is connected with the control system. The steering gear 13 is arranged on the frame 7 through the mounting base 12, and the mounting base 12 and the frame 7 are connected by bolts. The steering gear 13 is provided with a rotating bracket 14 for rotation. The steering gear 13 is an existing structure, and the steering gear 13 drives the rotating bracket 14 to rotate under the action of the control system. A motor 15 is arranged on the rotating bracket 14 , and the motor 15 is a brushless motor 15 . The output shaft of the motor 15 is provided with a propeller 16, and the motor 15 drives the propeller 16 to rotate. The steering gear 13 drives the motor 15 and the propeller 16 to rotate between rotations, so that the propeller 16 is in a horizontal position or a vertical position, thereby changing the direction of power and realizing mode switching between fixed-wing and multi-rotor.

The frame 7 is provided with an undercarriage 8, and there are four undercarriages 8, and the four undercarriages 8 are evenly arranged on both sides of the fuselage 1. Landing gear 8 is connected with frame 7 by bolts. The bottom of the undercarriage 8 is provided with a flange that is inclined outward at 45°, and the undercarriage 8 contacts the ground through the flange at the bottom, thereby increasing the contact area with the ground. The folded edge can be covered with shock-absorbing material, or the folded edge has a certain degree of elasticity, which has a certain buffering and shock-absorbing effect on the take-off and landing of the drone, and improves the stability of the take-off and landing of the drone.

The interior of the nacelle 2 is provided with a control system and a power supply, and the power supply, the first tilt rotor 9 , the second tilt rotor 10 and the third tilt rotor 11 are all electrically connected to the control system. The control system includes attitude control unit, data transmission unit and remote sensing communication unit. The remote sensing communication unit controls the rotation of the rotating bracket 14 through the attitude control unit by accepting the remote control command from the remote controller, so as to switch the propeller 16 in the horizontal direction and the vertical direction to realize the switching between fixed-wing and multi-rotor modes. The attitude control unit, the data transmission unit and the remote sensing communication unit all adopt the existing technology, and the connection mode of the steering gear 13 of the control system and the power supply, the tilt rotor one 9, the tilt rotor two 10 and the tilt rotor three 11 is also according to the needs Use existing technologies to connect.

The UAV is equipped with three tilting rotors, which can be rotated under the action of the steering gear 13, and the power is adjusted to point vertically upward or horizontally, so that the UAV has the function of taking off and landing vertically in complex terrain, and hovering in the air Ability.

The above method of using the wing-body fusion tilting trirotor UAV with switchable power includes:

S1. Turn on the power supply, the propellers 16 of the first tilt rotor 9, the second tilt rotor 10 and the third tilt rotor 11 are all in a horizontal state, and the UAV lifts off in the multi-rotor mode.

S2. After the UAV is lifted into the air to a predetermined height, it hovers, and the control system controls the rotating brackets 14 of the first tilt rotor 9, the second tilt rotor 10 and the third tilt rotor 11 through the steering gear 13 to rotate to the transition position. After the UAV accelerates to the minimum flight speed, the steering gear 13 controls the further rotation of the rotating bracket 14, so that the propeller 16 rotates to a vertical state, and switches to a fixed-wing mode for flight.

S3. According to the needs of different tasks, the independent control of tiltrotor 1 9, tiltrotor 2 10 and tiltrotor 3 11 can be realized through the control system in the fixed-wing cruising state, in three power modes of single engine, double engine and three engines to switch.

Fig. 4 is a schematic diagram of a single-engine power mode structure of an embodiment of a wing-body fusion tilting tri-rotor UAV with switchable power according to the present invention. The structure diagram of the dual-engine power mode of the man-machine embodiment, and FIG. 6 is a schematic structure diagram of the three-engine power mode of an embodiment of a wing-body fusion tilting trirotor UAV with switchable power according to the present invention. As shown in the figure, the single engine is the motor 15 of the tilt rotor one 9 and the tilt rotor two 10 stops working, and enters the standby state, and the motor 15 of the tilt rotor three 11 works as a power output; the double engine is the tilt rotor The motor 15 of the third 11 stops working and enters the standby state. The motors 15 of the tilt rotor one 9 and the tilt rotor two 10 work as power output; The motor 15 of rotor three 11 all works as power output. Select to turn on the propellers 16 on the first tilt rotor 9, the second tilt rotor 10 and the third tilt rotor 11 as required, which can greatly reduce power consumption and prolong the battery life.

Therefore, the present invention adopts the above-mentioned switchable power wing-body fusion tilting three-rotor drone, so that the drone has the ability to take off and land vertically and hover, and has a large load, a large internal space, small flight resistance, and low energy consumption. , Long battery life.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: it still Modifications or equivalent replacements can be made to the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims (9)

1. The utility model provides a three rotor unmanned aerial vehicle that wing body fusion of changeable power was verted which characterized in that: the aircraft comprises an aircraft body, wherein the aircraft body is fixed on a frame, an engine room is arranged in the aircraft body, and a right wing and a left wing are respectively arranged on two sides of the aircraft body; the rear part of the frame is provided with a horizontal tail wing, the horizontal tail wing is positioned at the rear part of the fuselage, and two ends of the horizontal tail wing are connected with two sides of the rear end of the frame through the vertical tail wing; the two sides of the front end of the frame are respectively provided with a tilting rotor wing I and a tilting rotor wing II, and the rear end of the frame is provided with a tilting rotor wing III; the landing gear is arranged on the frame, a control system and a power supply are arranged in the cabin, and the power supply, the first tilting rotor, the second tilting rotor and the third tilting rotor are electrically connected with the control system;

the application method of the wing-body fusion tilting three-rotor unmanned aerial vehicle with switchable power comprises the following steps:

s1, turning on a power supply, wherein the propellers of the first tilting rotor, the second tilting rotor and the third tilting rotor are all in a horizontal state, and the unmanned aerial vehicle is lifted off in a multi-rotor mode;

s2, after the unmanned aerial vehicle is lifted to a preset height, hovering, controlling the rotating supports of the first tilting rotor wing, the second tilting rotor wing and the third tilting rotor wing to rotate to a transition position by the control system through the steering engine, and after the unmanned aerial vehicle accelerates to the minimum flight speed, controlling the rotating supports to further rotate by the steering engine, so that the screw rotates to a vertical state, and switching to a fixed wing mode;

s3, according to different task requirements, the first tilting rotor, the second tilting rotor and the third tilting rotor are independently controlled through a control system in a fixed-wing cruising state, and switching is performed in three power modes of single-engine, double-engine and three-engine.

2. The switchable power wing body fusion tilt three rotor unmanned aerial vehicle of claim 1, wherein: the fuselage, the right wing and the left wing are of detachable split structures and adopt a wing body fusion aerodynamic shape design.

3. The switchable power wing body fusion tilt three rotor unmanned aerial vehicle of claim 1, wherein: the vertical tail fin is connected with the rack through bolt disassembly, and the horizontal tail fin is connected with the vertical tail fin through bolt disassembly.

4. The switchable power wing body fusion tilt three rotor unmanned aerial vehicle of claim 1, wherein: the first tilting rotor wing, the second tilting rotor wing and the third tilting rotor wing have the same structure and are distributed in an isosceles triangle.

5. The switchable power wing body fusion tilt three rotor unmanned aerial vehicle of claim 4, wherein: the tilting rotor comprises a steering engine, wherein the steering engine is connected with a control system, the steering engine is arranged on a rack through a mounting seat, a rotating bracket is arranged on the steering engine in a rotating mode, a motor is arranged on the rotating bracket, and a propeller is arranged on an output shaft of the motor.

6. The switchable power wing body fusion tilt three rotor unmanned aerial vehicle of claim 1, wherein: the landing gear is provided with four, and four landing gears are even to be set up in the both sides of fuselage, and the landing gear passes through the bolt and is connected with the frame.

7. The switchable power wing body fusion tilt three rotor unmanned aerial vehicle of claim 6, wherein: the bottom of the landing gear is provided with a folded edge which is inclined outwards by 45 degrees.

8. The switchable power wing body fusion tilt three rotor unmanned aerial vehicle of claim 1, wherein: the control system comprises an attitude control unit, a data transmission unit and a remote sensing communication unit.

9. The switchable power wing body fusion tilt three rotor unmanned aerial vehicle of claim 1, wherein: the single-shot motor stops working for the first tilting rotor and the second tilting rotor, enters a standby state, and the motor of the third tilting rotor works as power output; the double-engine is that the motor of the tilting rotor three stops working, enters a standby state, and the motor of the tilting rotor one and the motor of the tilting rotor two work to be used as power output; the three motors of the first tilting rotor and the second tilting rotor are used as power output.

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