CN118205732A - Modularized quick-dismantling type vertical take-off and landing unmanned aerial vehicle - Google Patents
Modularized quick-dismantling type vertical take-off and landing unmanned aerial vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/20—Vertical take-off and landing [VTOL] aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/40—Modular UAVs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
- B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
- B64U30/14—Variable or detachable wings, e.g. wings with adjustable sweep detachable
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Abstract
The invention relates to the technical field of quick-dismantling unmanned aerial vehicles, and particularly provides a modularized quick-dismantling vertical take-off and landing unmanned aerial vehicle, which comprises the following components: the device comprises a main wing module, a wing module, an inter-wing connection module and a power supply module; the wing modules are symmetrically and sequentially connected to two sides of the main wing module by taking the main wing module as a center; the wing modules have the same structure and can be replaced with each other; the main wing module and each wing module are provided with independent power systems, and are electrically conducted through an electrical interface and an electrical plug; the power supply module is used for supplying power to the system. According to the invention, the modularized combined wing is adopted, so that the number of wing modules can be flexibly adjusted according to task requirements, the unmanned aerial vehicle can realize multi-combination collocation under different flight tasks of different application scenes, and the purchasing cost generated by carrying multiple unmanned aerial vehicles during outgoing operation is reduced.
Description
Technical Field
The invention relates to the technical field of quick-dismantling unmanned aerial vehicles, and particularly provides a modularized quick-dismantling type vertical take-off and landing unmanned aerial vehicle.
Background
With the development of unmanned aerial vehicle industry, more and more application scenes are utilizing unmanned aerial vehicles to complete complex tasks. The vertical take-off and landing fixed wing unmanned aerial vehicle is more and more favored because of the advantages such as the restriction of the take-off and landing sites, the duration and the like. Most of the existing vertical take-off and landing unmanned aerial vehicles are composite wings formed by combining a rotor wing and a fixed wing, the composite wings are provided with two sets of power systems, the two sets of power systems are mutually independent, and when parts or equipment of one two sets of power systems are damaged, spare parts of the other power system cannot be used for maintenance and replacement, so that the spare parts are required to be prepared for each power module. Along with the increasing of complex tasks and load requirements, the requirements on unmanned aerial vehicles are not single, a plurality of unmanned aerial vehicles with different sizes are usually required to be prepared for the outgoing operation to finish the corresponding tasks, the economic cost is increased, and meanwhile, portability of the working process is reduced due to multi-machine carrying.
At present, various quick-dismantling unmanned aerial vehicles have been proposed to above-mentioned problem, mainly the dismouting of fixed wing and many rotors to the compound wing, and this dismouting scheme has the shortcoming that the inherent energy utilization ratio of compound wing is lower, and the module size is still great after the dismouting, inconvenient carry. For example, the chinese patent publication No. CN114852326a, publication day 2022, 8 and 5, and the patent name is an invention patent application of "a modular composite wing unmanned aerial vehicle and quick-release connection assembly", in which the quick-release connection assembly can be assembled from a composite wing mode of vertical lifting to a hoverable multi-rotor mode by disassembling the assembly module. However, because the scheme is based on the design of the composite wing, on one hand, the problem that the composite wing increases extra take-off weight due to two independent power systems exists, and on the other hand, the number of the structures is more, if a certain part is damaged, the replacement is more inconvenient, the number of required spare parts is more, and the economical efficiency is poorer.
For example, the Chinese patent publication number is CN114013642A, the publication date is 2022, 2 and 8, and the patent name is a patent application of a vertical take-off and landing fixed wing unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a plurality of unmanned aerial vehicle power modules on a wing, and each power module is provided with an independent power system, has the same structure and can be used in a position-changing manner; and the number of the power modules can be changed according to task demands, so that the endurance of the unmanned aerial vehicle is ensured. In the scheme, all power systems are connected with the wing by connecting pipes, and the number of the connecting pipes is large, the length is long and the dynamic stiffness is low; when the power system is started, distributed excitation easily enables the structure to have more modal orders and weak vibration resistance. In addition, the patent only has an aileron structure on the side wing, which indicates that the main wing and the side wing must exist at the same time, and the wing does not have modularized disassembly flying performance; the disassembly of the power module only changes the power output in the vertical stage, and when the lifting surface is unchanged in the flat flight stage, different cruising speeds need to be changed in the flat flight stage in the face of different takeoff weights, so that the application condition of fixing cruising speeds in most operations is limited; in addition, a plurality of propellers and equipment cabins used in the vertical stage on each power module are of independent structures and cannot be fused with a wing fuselage, and are resistance items in the process of flying in a flat manner, so that the overall efficiency is low; in addition, the overall occupied area of the aircraft during take-off cannot be changed due to the extension of the wings and the length of the power module, and the aircraft cannot adapt to the situation that the take-off site has size limitation.
Disclosure of Invention
The invention provides a modularized quick-dismantling type vertical take-off and landing unmanned aerial vehicle applicable to various scenes, the number of wing modules carried by the unmanned aerial vehicle can be adjusted according to different take-off weights and task requirements, the flexibility of use is improved, and particularly for larger models, the design can effectively save cost for both an unmanned aerial vehicle producer and an unmanned aerial vehicle purchasing party.
The invention provides a modularized quick-dismantling type vertical take-off and landing unmanned aerial vehicle, which comprises the following components: at least two main wing modules arranged in parallel, a plurality of wing modules with the same structure, an inter-wing connecting module and a power supply module;
the wing modules are symmetrically and sequentially connected to two sides of the main wing module by taking the main wing module as a center; the main wing module and the wing module both comprise a driving end and a driven end, and the driving end is provided with a connecting beam and an electric plug; the passive end is provided with a connecting beam interface and an electrical interface; the driving end is connected with the driven end of the other module through a locking structure;
The wing modules and each wing module are provided with a power system, and are electrically conducted through an electrical interface and an electrical plug; a main control unit is arranged in the main wing module, and the working state of a power system in each wing module can be independently controlled through the main control unit;
The wing-to-wing connection modules are symmetrically arranged between two parallel main wing modules and/or wing modules;
the power supply module comprises a main battery pack, wherein the main battery pack is arranged in the main wing module and supplies power for a power system in the wing module through an electric interface and an electric plug.
Preferably, the number of main wing modules is 2.
Preferably, the main wing module and the wing module both further comprise an attitude control module, wherein the attitude control module comprises a steering engine, a steering engine connecting rod and an aileron, and the steering engine drives the steering engine connecting rod to drive the aileron to deflect so as to control the flight attitude.
Preferably, each power system comprises an electronic speed regulator, a motor and a propeller, wherein the electronic speed regulator is used for controlling the motor and driving the propeller to rotate through the motor so as to provide flight tension.
Preferably, the main wing module and the power system and the attitude control module in the wing module are controlled by a main control unit, and in the vertical take-off and landing stage, the main control unit controls all the power systems to be started to provide the pulling force required by the vertical take-off and landing; during the level fly cruising phase, only part of the power system can be symmetrically started to provide pulling force.
Preferably, the aircraft further comprises a landing gear module, wherein the landing gear module comprises a landing gear connection socket and a landing gear, and the landing gear connection socket is arranged at the rear side of the wing module and at two ends of the rear side of the main wing module; the landing gear can be connected with landing gear connecting sockets on any symmetrical wing module or with two landing gear connecting sockets on a main wing module.
Preferably, the upper and lower surfaces of the main wing module and the wing module are respectively provided with a locking structure, the locking structure comprises a clamping ring and a fastening buckle, the clamping ring is arranged at the passive end, and the fastening buckle is arranged at the active end.
Preferably, the connecting beam interface adopts a shaft sleeve, and the connecting beam is inserted into the connecting beam interface to realize radial fixation; the connecting beam comprises a front beam and a rear beam, and the connecting beam interface comprises a front beam interface and a rear beam interface.
Preferably, each wing module is further provided with a sub-control unit, and the main control unit indirectly controls the main wing module and the power system and the gesture control module in the wing module through each sub-control unit; each sub-control unit detects the output signal of the main control unit, and if the output signal of the main control unit is detected to be abnormal or interrupted, the sub-control units directly control the subsystem and the gesture control module to complete the operation.
Preferably, the power supply module further comprises an auxiliary battery pack, a detachable auxiliary battery pack is arranged in the wing module, the auxiliary battery pack is used for auxiliary power supply, and the gravity center of the unmanned aerial vehicle can be adjusted through the detachment of the auxiliary battery pack.
Compared with the prior art, the invention has the following beneficial effects:
According to the invention, the modularized combined type wing is adopted, the number of the wing modules can be flexibly adjusted according to requirements, the switching of a heavy load mode and a light load mode can be realized according to task requirements, the quick disassembly and assembly of the aircraft when meeting different task requirements can be realized through a quick disassembly structure on the wing, so that the unmanned aerial vehicle can realize the multi-combination collocation under different flight tasks of different application scenes, the purchasing cost generated by carrying multiple unmanned aerial vehicles in the outgoing operation is reduced, the connection positions are provided with mechanical connection, electrical connection and fastening connection, the reliability and the convenience of the wing connection are greatly improved by adopting the combination of shaft sleeves and buckles in the mechanical connection, and the control and information exchange of the main wing module and each wing module are effectively ensured by the electrical connection.
Each wing module is provided with an independent power system, when a plurality of groups of wing modules exist, the positions of the wing modules can be exchanged and replaced with each other, when a certain wing module is damaged, the same wing modules can be replaced with each other, the mould cost in the design and production process can be reduced for an unmanned aerial vehicle design party, the purchasing cost of spare parts can be reduced for an unmanned aerial vehicle purchasing party, and the economic performance is superior.
In addition, the distributed layout of the power supply module and the control system effectively improves cruising time and safety, and the self load of the unmanned aerial vehicle can be reduced through the disassembly of the battery pack.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a modularized quick-release type vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a passive end and an active end on a wing module provided in accordance with an embodiment of the present invention;
FIG. 3 is an assembled schematic view of a connection beam and connection beam interface provided in accordance with an embodiment of the present invention;
fig. 4 is a schematic structural view of a locking structure according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a power system and attitude control module provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of the structure of an interwing connection module and landing module according to an embodiment of the present invention;
Fig. 7 is a schematic diagram illustrating disassembly and assembly of a main battery pack in a power supply module according to an embodiment of the present invention;
Fig. 8 is a data diagram of unmanned aerial vehicle lift provided according to an embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, like modules are denoted by like reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, a detailed description thereof will not be repeated.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
As shown in fig. 1, the embodiment of the invention provides a modularized quick-release type vertical take-off and landing unmanned aerial vehicle, which comprises a main wing module 1, a plurality of groups of wing modules, an inter-wing connecting module 6, a take-off and landing module 7, a power supply module and a control system. In this embodiment, the unmanned aerial vehicle main body is composed of a pair of parallel host wing modules 1, the main body structures of the upper host wing module 1 and the lower host wing module 1 are the same, and the local structures can be adjusted according to different requirements. Furthermore, the invention is also applicable to unmanned aerial vehicle designs of a plurality of main wing modules 1, the structural design and principle being the same as or similar to those shown in the embodiments. The main wing module 1 is taken as a symmetrical center, two sides of the main wing module 1 are connected with a plurality of wing modules, the structures of the wing modules are identical, the wing modules can be replaced with each other, and the connection relation between the wing modules is identical with that between the main wing module 1 and the wing modules. Since only a pair of parallel main wing modules 1 are provided in the embodiment, the wing modules must be symmetrically installed on both sides of the main wing modules 1, so that 4 wing modules are divided into one group, and there are 4 groups of 16 wing modules in total, and the wing modules in different groups are respectively denoted as a first wing module 2, a second wing module 3, a third wing module 4 and a fourth wing module 5.
As a preferred embodiment, each wing module adopts a modularized design, has detachability and can be used for customizing the number of the installed wing modules according to the requirements of the vertical take-off and landing unmanned aerial vehicle such as carrying endurance range and the like. In this embodiment, the number of groups of wing modules of the unmanned aerial vehicle with working conditions may be 1 group, 2 groups, 3 groups, and 4 groups. On one hand, after the wing module is dismantled, the space occupied by each module is smaller, the modules can be placed and stored in a concentrated mode, the occupied area and the storage space are smaller, and the transportation and the carrying are convenient; on the other hand, under the condition of lower task load weight or lower space requirement, the number of carried wing modules can be reduced, portability is further improved, and redundant wing modules are used as spare parts. In addition, since the wing modules have the same structure and connection relationship, when one or a plurality of the wing modules are damaged, the wing module serving as a spare part can be replaced with the damaged wing module. The problem that the existing quick-dismantling unmanned aerial vehicle needs to prepare spare parts for each wing module is avoided, and the reserve quantity of the spare parts is reduced.
As a preferred embodiment, the upper and lower main wing modules 1 may also carry a different number of wing modules. For example, 2 wing modules are symmetrically loaded on both sides of the upper main wing module 1, and 4 wing modules are symmetrically loaded on both sides of the lower main wing module 1. When the number of the wing modules loaded by the upper main wing module 1 and the lower main wing module 1 is different, the number of the wing modules loaded by the upper main wing module 1 is preferably selected to be more than the number of the wing modules loaded by the rest main wing modules 1. This is because the interference between the wings affects the flow field distribution of the lower surface of the upper main wing module 1 and the upper surface of the lower main wing module 1, and the lift coefficient of the upper main wing module 1 is generally higher in the horizontal flight attack angle state. When it is desired to reduce the wing modules, the wing modules carried by the underlying main wing module 1 may be preferentially reduced, which can increase the total lift of the current configuration and thus help maintain stable flight. The difference between the number of modules carried by the upper and lower main wing modules 1 should be controlled within 2 groups. When the number of the wing modules carried by the upper main wing module 1 and the lower main wing module 1 is not equal, the battery position needs to be redistributed to adjust the gravity center of the unmanned aerial vehicle, so that the stable flight of the unmanned aerial vehicle is ensured.
As shown in fig. 2, the wing modules are all installed and fixed by connection modules, and the connection modules of the main wing module 1 and the wing module are all of the same design, and only the first wing module 2 in fig. 2 is taken as an example for illustration, and the sections of two sides of the first wing module 2 are respectively provided with an active end 21 and a passive end 22. The driving end 21 comprises a front beam 211, a rear beam 212, an electric plug 213 and a fastening buckle 214, wherein the electric plug 213 is arranged between the front beam 211 and the rear beam 212, the specific positions of the front beam 211 and the rear beam 212 can be rationally designed according to the width of the first wing module 2, the situation that the distance between the front beam 211 and the rear beam 212 is too close to the maximum extent is avoided, the stress on the connecting position is concentrated, and the connection reliability is reduced. The passive end 22 includes a front beam interface 221, a rear beam interface 222, an electrical interface 223, and a snap ring 224, where the positions of the front beam 211, the rear beam 212, the electrical plug 213, and the fastening buckle 214 are respectively in one-to-one correspondence. The active end of each wing module and the passive end of the adjacent other wing module or main wing module 1 form a connecting module, so that the connection between the adjacent wing modules or wing modules and the main wing module 1 is realized. For example, when the first wing module 2 is connected to the second wing module 3 on the outside, the active end 31 of the second wing module 3 is connected to the passive end 22 of the first wing module 2, wherein the front spar 311 on the second wing module 3 is inserted into the front spar interface 221 on the first wing module 2; the rear spar 312 on the second wing module 3 is inserted into the rear spar interface 222 on the first wing module 2; the electrical plug 313 on the second wing module 3 is plugged into the electrical interface 223 on the first wing module 2; the fastening buckle 314 on the second wing module 3 is fastened with the clamping ring 224 on the first wing module 2. The connection of the front beam 311 and the front beam interface 221, the rear beam 312 and the rear beam interface 222, the fastening buckle 314 and the clamping ring 224 jointly realizes the mechanical connection between the first wing module 2 and the second wing module 3; the electrical plug 313 and the electrical interface 223 realize electrical connection between the first wing module 2 and the second wing module 3, so that power supply and signal transmission between different modules are facilitated. The front beam 211, the rear beam 212, the electrical plug 213 and the fastening buckle 214 on the driving end 21 of the first wing module 2 are all connected with corresponding structures on the driven end of the main wing module 1; the front beam interface 321, the rear beam interface 322, the electrical interface 323, the snap ring 324 on the passive end 32 of the second wing module 3 are connected with corresponding structures on the active end of the third wing module 4. In addition, other locking modes, such as a limiting plug type, can be adopted between the driving end 21 and the driven end 22, the insertion end is prevented from being separated through a limiting structure after the insertion, and the limiting is released through a button or a pulling piece during the pulling. The quick release between the active end 21 and the passive end 22 is mainly to meet the force transmission, electrical connection and mechanical locking. When the layout of the driving end 21 and the driven end 22 is tight, the electric plug 213, the fastening buckle 214, the electric interface 223 and the clamping ring 224 can be integrated together to form the same connecting structure, so that the occupied space can be reduced.
As a preferred embodiment, each wing module comprises a driving end and a driven end, the driving ends are all overhanging splicing structures, the driven ends are all inserting opening inserting structures, when enough wing modules are installed, in order to ensure that the end faces of wing tips of the wings have no protruding structures, plane plugs can be arranged, inserting openings of the inserting ends of the end faces are closed, so that the number of the carried wing modules can be freely adjusted, and meanwhile, the flatness and the attractiveness of the outer surfaces of the wings are maintained.
As a preferred embodiment, the driving end can be further provided with a plurality of groups of connecting beams, and a plurality of groups of connecting beam interfaces are correspondingly arranged at the driven end so as to improve the connection stability between adjacent modules, and the connecting beams can be round tubes, square tubes, C-shaped or T-shaped, etc.
As a preferred embodiment, as shown in fig. 3, the front beam interface 221 and the rear beam interface 321 each adopt a sleeve structure. Inside the first wing module 2, the front beam 211 and the front beam interface 221 are connected to the outside of the first wing module 2, and the front beam 311 of the second wing module 3 may be directly inserted into the front beam interface 221 of the first wing module 2. The main wing module 1, front beams of all wing modules and inner diameters of front beam interfaces are all designed to be the same, so that on one hand, the replacement among different wing modules is facilitated; on the other hand, the depth of the front beam 311 of the second wing module 3 inserted into the front beam interface 221 of the first wing module 3 is fixed, and the front beam 311 of the second wing module 3 is supported by the front beam 211 sleeved on the inner diameter of the front beam interface 221 after being inserted to a certain depth. The design is favorable for connection between the front beam and the front beam interface, the insertion depth is not required to be adjusted in the reconnection process, the appearance deformation of the wing module caused by overlarge force during insertion is avoided, the number of wing module spare parts can be reduced in the manufacturing process of each module of the unmanned aerial vehicle, and the acquisition and buying cost is reduced. The structural design and the connection mode of the rear Liang Yu back beam interface are the same as those of the front beam and the front beam interface, and are not described in detail herein.
As shown in fig. 4, for example, where the first wing module 2 and the second wing module 3 are connected, a lightweight snap ring 224 is mounted on the passive end 22 of the first wing module 2, and a heavier fastening clip 314 is provided on the active end 31 of the second wing module 3.
When all installing of required quantity wing module, the wing terminal surface is the passive end, and what set up on it is the less snap ring of weight, this helps alleviateing the quality of whole fuselage to the protruding length and the stability of snap ring are better, can not cause the influence to unmanned aerial vehicle flight. In addition, a fastening buckle or snap ring may be provided on each of the upper and lower surfaces of the main wing module 1 and the wing module, the fastening buckle or snap ring being located close to the front and rear beams in order to better disperse and transfer the force. The fastening buckle is also internally provided with a spring structure, so that the tightness and stability of the connecting part can be effectively ensured, and the connection strength and stability between the wing module and the main wing module 1 and the wing module are ensured.
In the disassembly process of the second wing module 3, the fastening buckle 314 on the second wing module 3 is opened, then the front beam 311, the rear beam 312 and the electric appliance plug 313 are pulled out of the first wing module 2, and the disassembly and assembly process of the second wing module 3 is completed, so that the disassembly and assembly process is quick, simple and convenient, and the overall usability of the unmanned aerial vehicle is improved. Other wing modules have the same structural features and functions as the wing modules 2 and 3, and will not be described in detail.
As shown in fig. 5, taking the first wing module 2 as an example, a power system 23 and an attitude control module 24 are further arranged on the first wing module 2, and the power system 23 comprises an electronic speed regulator 231, a motor 232 and a propeller 233; the motor 232 is controlled by the electronic speed regulator 231 to drive the propeller 233 to rotate, so that the pulling force required by the operation of the unmanned aerial vehicle is generated; the electronic speed regulator 231 drives the motor 232 to work by the instruction output by the control system; the propeller 233 may be a folding propeller, for example, when the power system 23 is required to be shut down during the flat flight, the propeller 233 may be retracted, and the air resistance generated during the flat flight may be reduced. The attitude control module 24 comprises a steering engine 241, a steering engine connecting rod 242 and an aileron 243; the steering engine 241 drives the steering engine connecting rod 242 to drive the aileron 243 to realize the aileron deflection movement, thereby controlling the flight attitude of the aircraft through aerodynamic force generated on the aileron by airflow in the working process of the aircraft; the steering engine 241 drives the aileron to work by an instruction output by the control system; the lateral length of the aileron 243 should be close to the size of the propeller 233, and the position of the rotation axis of the propeller 233 should be coincident with the position of the lateral center line of the aileron 243, so that the air flow range generated by the rotation of the propeller 233 can be coincident with the area of the aileron 243, and the aerodynamic force generated by the propeller 233 on the aileron 243 is fully utilized, so as to ensure effective control of the aircraft attitude. The power system and the gesture control module on the other wing modules have the same structural features and function roles as the power system 23 and the gesture control module 24 in the first wing module 2, and the structural features and function roles of the first wing module 2 can be specifically referred to, and will not be described in detail. And moreover, the positions of different wing modules can be mutually changed for use, so that the unmanned aerial vehicle is convenient to assemble and replace the wing modules.
As shown in fig. 6, the inter-wing connection module 6 is disposed between the wings of the unmanned aerial vehicle, for fixing the wings placed in parallel. Because the number of the wing modules carried by the unmanned aerial vehicle during flight can be designed according to the requirements, and the weight and the size of the unmanned aerial vehicle can be changed due to carrying of different numbers of the wing modules, the position of the inter-wing connecting module 6 is not fixed, and the installation number, the installation position and the specific size of the inter-wing connecting module 6 are required to be set according to the specific weight and the size of the unmanned aerial vehicle with working conditions after assembly. The unmanned aerial vehicle with working conditions after assembly is at least symmetrically provided with a group of wing connecting modules 6, and the unmanned aerial vehicle can be arranged between the upper main wing module 1 and the lower main wing module 1 or between wing modules corresponding to the same group of wing modules.
As shown in fig. 6, in the embodiment, the inter-wing connection module 6 is specifically described as being disposed between the wing modules, where the inter-wing connection module 6 includes a first connection rod 61 and a second connection rod 62, and when the two rods are used, the axes of the first connection rod 61 and the second connection rod 62 overlap in the lateral position, so that the resistance in forward incoming flow can be effectively reduced. The first connecting rod 61 and the second connecting rod 62 are connected to the wing module, a wing rib can be arranged in the wing module, a first connecting rod socket 63 and a second connecting rod socket 64 extending out of the wing surface are vertically arranged on the wing rib, the first connecting rod 61 is riveted after being inserted into the first connecting rod socket 63, and the second connecting rod 62 is riveted after being inserted into the second connecting rod socket 64. In addition, the inter-wing connection module 6 may also adopt a single-rod or multi-rod structure design, that is, the inter-wing connection module 6 only includes one connecting rod, or on the basis of the first connecting rod 61 and the second connecting rod 62, a connecting rod is further disposed on the center line of the unmanned aerial vehicle, and three-point connection is fixed. As a preferred embodiment, the first connecting rod 61, the second connecting rod 62, the first connecting rod socket 63 and the second connecting rod socket 64 are made of carbon fiber materials, so that the weight can be reduced while the strength is high. The ribs for overhanging the first and second connecting rod sockets 63, 64 may be made of a metallic material, which has good ductility and facilitates the processing of complex configurations.
As a preferred embodiment, the first connecting rod 61, the second connecting rod 62, the first connecting rod socket 63 and the second connecting rod socket 64 may each be cylindrical carbon fiber tubes; or an elliptic carbon fiber flat tube is adopted so as to reduce wind resistance; or a carbon fiber flat tube with a symmetrical wing section is adopted, so that the wind resistance is further reduced.
The landing gear module 7 comprises landing gear connection sockets 71 and landing gear 72, and landing gear connection sockets 71 are arranged on the rear side of each wing module, and can be arranged on the rear side edge or the middle position of the wing module; at both ends of the rear side of the main wing module 1, a landing gear connection socket 71 is provided, and the positions of these two landing gear connection sockets 71 are symmetrical along the center line of the main wing module 1. Landing gear 72 may be connected to landing gear connection sockets 71 on any symmetrical wing module or to two landing gear connection sockets 12 on the main wing module 1. Typically, the landing gear 72 will be mounted on the wing or main wing module 1 where the interwing connection module 6 is located. In an embodiment, as shown in fig. 6, the landing gear 72 is installed on the wing module where the inter-wing connection module 6 is located, the landing gear connection socket 71 and the landing gear 72 are connected by adopting threads, and the landing gear 72 is inserted into the landing gear connection socket 71 and is screwed in a rotating manner; and the screw is rotated out when the screw is disassembled. In addition, manners like fastening, riveting, etc. similar to the threaded connection will not be described in detail.
As a preferred embodiment, the landing gear connection socket 71 may be integrally designed with the ribs of the first connection socket 63 and the second connection socket 64, so that the impact force received by the landing gear 72 during landing is effectively transmitted and absorbed by the high-strength metal ribs and the first connection rod 61 and the second connection rod 62 between the wings, and the safety of the unmanned aerial vehicle during landing is ensured.
The main wing module 1 corresponds to a group of wing modules which are spliced in advance and comprises two sets of power systems and gesture control modules, the two sets of power systems and gesture control modules are symmetrical with the central axis of the main wing module 1, the power systems and gesture control modules of the main wing module 1 are identical to the power systems 23 and gesture control modules 24 of the first wing module 2 in structure, and the power systems and gesture control modules are described in detail herein, and the difference is that: the main wing module 1 is equipped with a motor and a propeller with a greater power.
The power supply module comprises a main battery pack arranged in a battery compartment in the middle of the main wing module 1, and energy is supplied through the main battery pack. In the present embodiment, a pair of main wing modules 1 disposed in parallel is employed, and main battery packs are provided in both the upper and lower main wing modules 1. Because the unmanned aerial vehicle needs to guarantee parallel stability, therefore, the main group of batteries in the upper main wing module 1 may be different from the quality of the main group of batteries in the lower main wing module 1 in the design process, and battery rationalization distribution needs to be carried out according to the load quality of the unmanned aerial vehicle and the whole quality of the unmanned aerial vehicle. Assuming that the load mass of the unmanned aerial vehicle is M z, the overall mass of the unmanned aerial vehicle is M, the mass of the main battery pack in the upper main wing module 1 is M 1, and the mass of the main battery pack in the lower main wing module 1 is M 2, the following requirements are satisfied when the batteries are distributed: (M 1-M2)-Mz is less than or equal to 15% M).
As shown in fig. 7, the installation of each battery in the main battery pack 81 is illustrated by taking the main battery pack 81 in the upper main wing module 1 as an example, specifically, the main battery pack 81 is composed of a plurality of battery units, each battery unit can be independently assembled and disassembled, and the number of the battery units is determined by the number of wing modules carried by the main wing module 1. In this embodiment, when 4 wing modules are installed on the main wing module 1, the main battery 81 includes 4 battery units, which are a first battery unit 811, a second battery unit 812, a third battery unit 813 and a fourth battery unit 814, respectively, where the first battery unit 811 is a fixed basic unit, and the electric energy content thereof is the amount of power required when carrying 1 wing module; the electric energy content of the second battery unit 812 corresponds to the electric energy consumption increased when the wing modules of 2 groups are loaded, the electric energy content of the third battery unit 813 corresponds to the electric energy consumption increased when the wing modules of 3 groups are loaded, and the electric energy content of the fourth battery unit 814 corresponds to the electric energy consumption increased when the wing modules of 4 groups are loaded. In addition, the electric energy content of the first battery unit 811 may be set to be the amount of electric power required when the wing module is not carried, and when the wing module is carried, the battery unit is increased to provide electric energy for the newly added wing module. The main battery 81 is connected by internal cabling of the main wing module 1 to an electrical plug or electrical interface via power wiring to enable electrical communication with the wing module. The batteries can be arranged in parallel with the sweepback line of the wing module, can be arranged longitudinally or at other angles, and can be arranged according to the gravity center requirement.
The battery pedestal 815 is arranged in the main wing module 1 in the partition corresponding to the battery pack 81, the battery pedestal 815 is in a T-shaped structure, a plurality of battery jacks 8152 are arranged on the battery pedestal 815, and battery installation can be completed by inserting battery plugs 8121 on battery units into the corresponding battery jacks 8152. When the battery unit needs to be disassembled, the battery cover plate on the main wing module 1 is opened, and the corresponding battery unit is taken out from the battery base 815.
When the number of the loaded wing modules changes, the corresponding battery units are added or detached, so that the increase of the weight of the whole machine caused by redundant battery units is avoided, and the load capacity of the unmanned aerial vehicle is reduced; or avoid too few on-load battery cells, resulting in reduced unmanned aerial vehicle dead time. The disassembly and assembly of the main battery pack in the lower main wing module 1 are the same as the above, and the number of possible battery units is different, but the structural principle and disassembly and assembly are the same, and the details are not repeated.
As a preferred embodiment, a detachable auxiliary battery pack can be arranged in the wing module, the auxiliary battery pack is used for assisting in power supply, the working endurance of the unmanned aerial vehicle is increased, the auxiliary battery pack is of a symmetrical distributed design, and the gravity center of the unmanned aerial vehicle can be adjusted through the detachment of the auxiliary battery pack. In addition, when the main wing module 1 is damaged and cannot normally supply power, the auxiliary battery pack can supply power to the wing module in a self-supporting way, so that the unmanned aerial vehicle can fly normally.
The control system comprises a main control unit 9 arranged in a control cabin in the middle of the main wing module 1 and used for receiving instructions of the ground station, controlling each power system, the attitude control module and the like to make corresponding adjustment according to the instructions, and transmitting instruction signals through connection between each electrical interface and the electrical plug. In addition, the main control unit 9 can also be started or shut down by a power system and an attitude control module in a certain group or a plurality of groups of wing modules. Different power is provided at different flight phases of the unmanned aerial vehicle, and meanwhile, the flight energy consumption can be effectively reduced by closing part of the power system. Specifically, in the vertical take-off and landing stage of the unmanned aerial vehicle, the main control unit 9 controls all power systems to be started, and provides the pulling force required by the vertical take-off and landing; in the plane flight cruising stage of the unmanned aerial vehicle, only part of symmetrical power systems can be kept in an on state to provide tension, other power systems are all closed, for example, only the power system of the outermost one group or two groups of wing modules is started, forward tension required for plane flight cruising is provided, other power systems in the middle are closed, and the propeller is retracted, so that the resistance in the flight process is reduced.
As a preferred embodiment, on the basis of the main control unit 9, the control system comprises sub-control units, one sub-control unit is arranged in each wing module, the main control unit 9 is responsible for controlling operations such as vertical take-off and landing, flying cruising and hovering of the unmanned aerial vehicle according to instructions of a ground station, command signals are output to each sub-control unit, and the sub-control units directly control the operation of a power system and an attitude control module in the wing module according to the received command signals. In addition, the sub-control units also detect the output signals of the main control unit 9, if detecting that the output signals of the main control unit 9 are abnormal or the signals are interrupted, any one sub-control unit replaces the main control unit 9 to receive the instructions of the ground station and transmits the instruction signals to other sub-control units, and the sub-control units directly control the operation of the power system and the gesture control module so as to complete the operation tasks of the unmanned aerial vehicle.
Compared with the traditional vertical take-off and landing unmanned aerial vehicle, the modularized quick-release type vertical take-off and landing unmanned aerial vehicle disclosed by the embodiment of the invention can change the number of the carried wing modules according to the task condition and the application scene of the unmanned aerial vehicle. When unmanned aerial vehicle carries out the time of task short, or the load demand is not high, or carry the aircraft size when there is the restriction, can reduce and carry the wing module quantity, the convenience is dealt with different work demands. According to different working requirements, the flight modes can be divided into a full-load mode and a combined mode, and the method specifically comprises the following steps:
Full load mode: all the wing modules are sequentially and symmetrically arranged on the main wing module 1, rated load is mounted, only one example provided with 4 groups of wing modules is shown in the embodiment, other groups of wing modules can be arranged, and the principle and structure are the same as those of the embodiment;
Combination mode: the number of the wing modules is reduced, the total weight of the corresponding batteries and the mounting is reduced, the combined mode can be divided into heavy load and light load, the number of the wing modules is adjusted according to actual requirements, and the wing modules can only be increased or reduced in a whole group in the adjustment process, so that the aircraft balance is ensured.
In particular, a modularized quick-dismantling type vertical take-off and landing unmanned aerial vehicle with take-off weight of 200kg and cruising speed of 25m/s is taken as an example, and the wing module combination scheme carrying different groups is described. A numerical computational fluid dynamics model is established for the main wing module 1 matched with different groups of wing modules, and the numerical computational fluid dynamics model is obtained through calculation: in the full-load mode, the main wing module 1 carries 4 groups of wing module combinations, the lift force data of the unmanned aerial vehicle shown in fig. 8 is calculated and obtained, 200kg lift force can be obtained by flying at an attack angle of 8 degrees, and the whole machine reduces 40kg Ping Fei liters of force when 1 group of wing modules are reduced; according to the selection, the number increase and decrease and the position change of the battery types, the longitudinal stability margin of the wing is ensured to be unchanged under the change of the number of the wing module groups, and the wing can fly through the change of the flight control modes; meanwhile, the cruising speed is kept unchanged after the number of the wing modules is changed, and the operation requirements such as inspection and the like are met.
The number of batteries, load weight, idle endurance and on-load endurance that can be matched when the wing modules with different groups of numbers are carried by the upper main wing module 1 with the equipped capacity of 28000mAh, the mass of the battery 26 blocks with the mass of 2.9kg and the lower main wing module 1 with the equipped capacity of 25000mAh and the mass of the battery 8 blocks with the mass of 2.5kg are shown in the following table 1:
table 1 modular combination data table
The above table is an example, and the specific situation is related to the battery model and the number of batteries, so that the positions and the number of the batteries in the upper main wing module 1 and the lower main wing module 1 can be adjusted simultaneously to adjust the weight and the gravity center of the unmanned aerial vehicle, and the batteries in the lower main wing module 1 can be unchanged, so that the number of the batteries in the upper main wing module 1 is only adjusted, and the operation amount for replacing the batteries is reduced.
After the aerodynamic appearance of the unmanned aerial vehicle is determined, the center of gravity is adjusted and calculated as follows: firstly calculating the aerodynamic focus of the unmanned aerial vehicle, secondly calculating the gravity center, adjusting the gravity center to ensure that the whole unmanned aerial vehicle has longitudinal stability, adjusting the positions of each structure, preferably only adjusting the positions and the number of batteries when the number of wing modules is changed, ensuring that other structures are not moved, calculating the longitudinal stability margin when carrying different groups of wing modules, preferably ensuring that the longitudinal stability margin is unchanged, and facilitating the switching of different flight control modes.
While embodiments of the present invention have been illustrated and described above, it will be appreciated that the above described embodiments are illustrative and should not be construed as limiting the invention. Variations, modifications, alternatives and variations of the above-described embodiments may be made by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (10)
1. A modularization quick detach formula VTOL unmanned aerial vehicle, its characterized in that includes: at least two main wing modules arranged in parallel, a plurality of wing modules with the same structure, an inter-wing connecting module and a power supply module;
The wing modules are symmetrically and sequentially connected to two sides of the main wing module by taking the main wing module as a center; the main wing module and the wing module both comprise a driving end and a driven end, and the driving end is provided with a connecting beam and an electric plug; the passive end is provided with a connecting beam interface and an electrical interface; the driving end is connected with the driven end of the other module through a locking structure;
the wing modules and each wing module are provided with a power system, and are electrically conducted through the electrical interface and the electrical plug; a main control unit is arranged in the main wing module, and the working state of the power system in each wing module can be independently controlled through the main control unit;
the inter-wing connection modules are symmetrically arranged between two parallel main wing modules and/or wing modules;
The power supply module comprises a main battery pack, wherein the main battery pack is arranged in the main wing module, and supplies power for the power system in the wing module through the electric interface and the electric plug.
2. The modular quick detach formula vertical take-off and landing drone of claim 1, wherein the number of main wing modules is 2.
3. The modular quick-release vertical take-off and landing unmanned aerial vehicle of claim 2, wherein the main wing module and the wing module each further comprise a gesture control module, the gesture control module comprises a steering engine, a steering engine connecting rod and an aileron, and the steering engine drives the aileron to deflect through the steering engine with the movable steering engine connecting rod so as to control the flight gesture.
4. The modular quick release vertical take-off and landing drone of claim 1, wherein each of the power systems includes an electronic governor, a motor, and a propeller, the electronic governor being configured to control the motor and to rotate the propeller via the motor to provide a flight pull.
5. The modular quick-release type vertical take-off and landing unmanned aerial vehicle according to claim 3, wherein the main wing module and the power system and the attitude control module in the wing module are controlled by the main control unit, and in the vertical take-off and landing stage, the main control unit controls all the power systems to be started to provide the pulling force required by vertical take-off and landing; during the level fly cruising phase, only a portion of the powertrain may be symmetrically turned on to provide tension.
6. The modular quick release vertical lift unmanned aerial vehicle of claim 1, further comprising a lift module, the lift module comprising a landing gear connection socket and landing gear, the landing gear connection socket being provided on a rear side of the wing module and on both ends of the rear side of the main wing module; the landing gear can be connected with the landing gear connecting sockets on any symmetrical wing modules or connected with two landing gear connecting sockets on the main wing module.
7. The modular quick-release type vertical take-off and landing unmanned aerial vehicle according to claim 1, wherein the locking structures are arranged on the upper surface and the lower surface of the main wing module and the wing module, the locking structures comprise a clamping ring and a fastening buckle, the clamping ring is arranged at the passive end, and the fastening buckle is arranged at the driving end.
8. The modular quick-release type vertical take-off and landing unmanned aerial vehicle according to claim 1, wherein the connecting beam interface adopts a shaft sleeve, and the connecting beam is inserted into the connecting beam interface to realize radial fixation; the connecting beam comprises a front beam and a rear beam, and the connecting beam interface comprises a front beam interface and a rear beam interface.
9. The modular quick-release vertical take-off and landing unmanned aerial vehicle of claim 5, wherein each of the wing modules is further provided with a sub-control unit, and the main control unit indirectly controls the main wing module and the power system and the attitude control module in the wing module through each of the sub-control units; each sub-control unit detects the output signal of the main control unit, and if detecting that the output signal of the main control unit is abnormal or has signal interruption, the sub-control unit directly controls the power system and the gesture control module to complete the operation.
10. The modular quick-release vertical lift unmanned aerial vehicle of claim 1, wherein the power supply module further comprises an auxiliary battery pack, wherein the detachable auxiliary battery pack is arranged in the wing module, and is used for auxiliary power supply, and the gravity center of the unmanned aerial vehicle is adjusted by detaching the auxiliary battery pack and adjusting the installation position of the auxiliary battery pack.
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