CN219277817U - Three rotor unmanned aerial vehicle take off and land perpendicularly with overlap joint wing - Google Patents

Abstract

The utility model discloses a vertical take-off and landing three-rotor unmanned aerial vehicle with lap wings, which comprises a lift-type fuselage, diamond-shaped flying wings, a control surface and a tilting propeller device, wherein the lift-type fuselage is provided with a plurality of landing wings; the rhombic flying wings are arranged at the left side and the right side of the lifting type airframe, and the lifting type airframe and the rhombic flying wings are integrally formed; the control surface is arranged at the rear edge of the diamond-shaped flying wing; the tilting propeller device is arranged on the tail part of the lifting type fuselage and the rhombic flying wings at the left side and the right side. The utility model uses the lap wing structure, has better structural rigidity, can reduce the influence of the rotor wing on the pneumatic elasticity, increases the wing area under the shorter span length, realizes the great improvement of the lift force performance, and effectively improves the pneumatic efficiency; the switching of different modes is realized through the tilting of the propeller direction, and the power utilization rate is high, the energy consumption is low, the endurance time is long and the pneumatic stability is good during the flat flight; the lift type fuselage is adopted, so that the flight resistance is reduced, and the flight load of the unmanned aerial vehicle is further improved.

Description

A vertical take-off and landing tri-rotor UAV with overlapping wings

technical field

The utility model belongs to the technical field of unmanned aerial vehicles, in particular to a vertical take-off and landing three-rotor unmanned aerial vehicle with overlapping wings.

Background technique

According to the traditional classification method, UAVs can be divided into two types: fixed-wing and rotary-wing UAVs. When the fixed-wing UAV is flying, the lift is provided by the wing, and the flight time is relatively large. Generally speaking, the take-off and landing conditions are relatively harsh. Wing drones cannot take off and land vertically, nor can they hover in the air. The lift of the rotor UAV is provided by the propeller or ducted fan, which can realize vertical take-off and landing, has low requirements for the take-off and landing site, and can hover stably in the air; The range is small under the condition. Whether it is a simple fixed-wing UAV or a rotary-wing UAV, it is impossible to achieve efficient cruise level flight, hovering in the air, and vertical take-off and landing at the same time. Therefore, in recent years, a composite vertical take-off and landing fixed-wing UAV has appeared, namely Compared with other vertical take-off and landing UAVs (such as tilting wing aircraft, ducted fan, and thrust reversing aircraft), the tilting rotor UAV has high level flight efficiency and hovering performance. It is stable, highly maneuverable and has wide application prospects.

Although the existing tilt-rotor UAVs have the advantages of fixed-wing aircraft and rotary-wing UAVs, they still have the following disadvantages due to the conventional layout (such as the MV-22 Osprey transport aircraft) on the layout: one is the tilt-rotor UAVs are similar to horizontal helicopters when flying vertically and at low speeds. The wings need to bear large structural loads and aerodynamic loads, so the requirements for wing stiffness are relatively high, and the aeroelastic stability of the wings is very prominent. Considering the actual adaptability to the site, conventional tiltrotors have a small wingspan and poor gliding performance. It is difficult to use the UAV structural system to glide and make an emergency landing after the air engine stops. The complex aeroelastic problems brought about by take-off and landing need to ensure the strength of the wing, which requires high structural strength of the single wing, which also limits the wingspan and increases the wing load; the third is that the smaller wingspan makes the wing area smaller. Small, such as the Osprey transport aircraft (MV-22) with a wingspan of only 14m and a wing area of 28m2, the lift is difficult to guarantee.

Utility model content

The purpose of this utility model is to solve the problems raised in the above-mentioned background technology, to provide a wing with large effective area, strong structural pressure resistance, high cruising efficiency, long battery life, good aerodynamic stability, and can realize vertical take-off and landing. A vertical take-off and landing three-rotor UAV with overlapping wings for fixed-point hovering.

In order to achieve the above purpose, the utility model provides the following technical solutions: a vertical take-off and landing three-rotor drone with overlapping wings, including a lift-type fuselage, a diamond-shaped flying wing, a control rudder surface, and a tiltable propeller device; The flying wings are arranged on the left and right sides of the lift-type fuselage, and the lift-type fuselage and the diamond-shaped flying wing are integrally designed; the control rudder surface is set on the rear edge of the diamond-shaped flying wing; On the side diamond-shaped flying wings.

Further, the lift-type fuselage includes a streamlined flat fuselage and an equipment compartment; the upper part of the streamlined flat fuselage has a streamlined upward convex shape, and the lower part transitions in a smooth curve shape with an angle tending to 0 degrees, forming a plane tending to be horizontal ; The equipment compartment has an oval shape and is located at the head of the flat fuselage.

Further, the diamond-shaped flying wing includes a lower wing, an upper wing, an overlapping wing and a vertical tail; the lower wing is connected to the upper wing through the overlapping wing, forming a diamond-shaped overlapping layout, and the connecting position of the overlapping wing is located at the bottom of the lower wing. tip end; the root of the lower wing is connected to the head of the streamlined flat fuselage in a single-wing manner, and the upper wing is connected to the upper end of the lift-type fuselage tail through the vertical tail; the vertical tail is located at the tail of the streamlined flat fuselage.

Further, the control rudder surface includes flaps; the flaps are arranged on the trailing edge of the lower wing for comprehensive control of the heading.

Further, the tiltable propeller device includes a motor, a tilting motor base, a connecting rod and a propeller; the number of the tilting motor bases is three, which are respectively located on the left and right sides and the tail of the streamlined flat fuselage; the left and right side tilting motor bases pass through The connecting rod is connected with the lower wing, and the rear tilting motor seat is connected with the middle position of the tail end of the streamlined flat fuselage through the connecting rod. The left and right rear three tilting motor seats form an equilateral triangle distribution; It is fixed on the left, right and rear three tilting motor bases, and can be driven by the tilting motor base to rotate 0-90 degrees around the vertical line on the horizontal plane in the direction of the fuselage; the propellers are respectively connected to the motors to generate lift. The propellers on the left and right sides of the streamlined flat fuselage turn in opposite directions.

Further, the lower wing and the upper wing adopt a flying wing layout, and one of low-speed airfoil, laminar airfoil or supercritical airfoil is selected; the propeller is selected from 2 or 3 blades, and the material of the blades is wood or glass fiber.

Furthermore, the highest protruding point of the streamlined flat fuselage is located 30% of the fuselage length away from the front end of the streamlined flat fuselage, the ratio of the fuselage length to the fuselage height is 7:1; the depth of the equipment compartment is 40-50% The thickness of the fuselage is 10-15% of the fuselage length from the front side of the equipment compartment to the front end of the streamlined flat fuselage, and 40-50% of the fuselage length from the rear side to the front end of the streamlined flat fuselage.

Further, the leading edge sweep angle of the lower wing is 10-20 degrees, the upper dihedral angle is 4-8 degrees, the lower wing is 10-25% of the fuselage length from the front end of the streamlined flat fuselage; the upper wing sweep angle is 15 -25 degrees, anhedral 3-5 degrees; the vertical tail is located at 5-10% of the length of the fuselage according to the streamlined flat fuselage tail, and the leading edge of the vertical tail is swept back 5-15 degrees.

Further, the chord length of the flap is 55-70% of the chord length of the lower wing.

Further, the tilt motor mounts on the left and right sides of the streamlined flat fuselage are located at a distance of 15-30% of the wingspan from the root of the lower wing.

Compared with the prior art, the beneficial effects of the utility model are: 1) the use of the lapped wing structure is better in structural rigidity, can reduce the influence of the rotor on the aeroelasticity, and increase the wingspan under a shorter span length. 2) Combining the tilting three-rotor with the lap wing structure, the left wing and the right wing are respectively equipped with connecting rods, and the tilting motor base passes through the connecting rod and the lower wing Connect the motor to be fastened on the tilting motor base by screws, and can be driven by the tilting motor base to rotate 0-90 degrees around the vertical line on the horizontal plane in the direction pointed by the fuselage. The propeller is connected to the motor, through The tilting of the propeller direction realizes the switching of different modes, which can realize vertical take-off and landing, fixed-point hovering in the air and high-efficiency air cruising and level flight; and in level flight, the power utilization rate is high, the energy consumption is low, the battery life is long, and the aerodynamic stability is good. ; 3) The lift-type fuselage is adopted to further improve the lift performance of the UAV. The upper part of the fuselage is designed into a streamlined convex shape to reduce flight resistance and further enhance the flight load of the UAV.

In order to more clearly illustrate the functional characteristics and structural parameters of the present utility model, further description will be given below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

The drawings described here are used to provide a further understanding of the utility model and constitute a part of the application. The schematic embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute improper limitations to the utility model. In the attached picture:

Fig. 1 is the oblique view of the unmanned aerial vehicle of the present utility model;

Fig. 2 is the top view of the unmanned aerial vehicle of the present utility model;

Fig. 3 is a side view of the unmanned aerial vehicle of the present utility model;

Fig. 4 is the schematic diagram of transition to the level flight state after the UAV of the utility model takes off vertically;

Fig. 5 is a comparison chart of the flight data of the unmanned aerial vehicle of the present utility model and a certain brand of four-rotor unmanned aerial vehicle;

Reference numerals in the figure are: streamlined flat fuselage 1, equipment compartment 2, lower wing 3, upper wing 4, lap wing 5, vertical tail 6, flap 7, motor 8, tilting motor seat 9, Connecting rod 10, propeller 11.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Example: Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present utility model.

As shown in Figures 1-3, a vertical take-off and landing three-rotor UAV with overlapping wings includes a lift-type fuselage, a diamond-shaped flying wing, a control rudder surface, and a tiltable propeller device; the diamond-shaped flying wing is arranged on The left and right sides of the lift-type fuselage, the lift-type fuselage and the diamond-shaped flying wing are integrally designed; the control rudder surface is set on the rear edge of the diamond-shaped flying wing; the tiltable propeller device is set at the tail of the lift-type fuselage and the diamond-shaped flying wings on the left and right sides superior. The upper part of the streamlined flat fuselage 1 is a streamlined upward convex shape, and the lower part transitions in the shape of a smooth curve with an angle close to the horizontal, forming a slightly convex but not high curvature plane; the equipment compartment 2 is in the shape of an oval, located in the flat Body 1 head. The lower wing 3 is connected to the upper wing 4 through the lapping wing 5 in a diamond-shaped lapping layout, and the connecting position of the lapping wing 5 is located at the tip end of the lower wing 3; The head is connected in a single wing mode, and the upper wing 4 is connected to the upper end of the lift type fuselage tail through the vertical tail 6; the vertical tail 6 is located at the streamlined flat fuselage 1 tail. The flap 7 is arranged on the trailing edge of the lower wing 3 for comprehensive manipulation of the direction. There are three tilting motor mounts 9, which are respectively located at the left and right sides and the tail of the streamlined flat fuselage 1; The central position of the tail end of the streamlined flat fuselage 1 is connected by a connecting rod 10, and the left and right rear three tilting motor seats 9 form an equilateral triangle distribution; the three motors 8 are respectively fastened to the left and right rear three tilting motor seats 9 by screws , and can rotate 0-90 degrees around the vertical line on the horizontal plane in the direction of the fuselage under the drive of the tilting motor base 9; the propellers 11 are respectively connected to the motor 8 for generating lift, and the streamlined flat fuselage 1 is about Both sides propellers 11 turn to opposite.

Specifically, in this embodiment, the lower wing 3 and the upper wing 4 adopt a flying wing layout, and select one of the low-speed airfoil, laminar flow airfoil or supercritical airfoil; the propeller 11 selects 2 blades or 3 The paddle is made of wood or fiberglass.

Specifically, in this embodiment, the highest protruding point of the streamlined flat fuselage 1 is located 30% of the fuselage length away from the front end of the streamlined flat fuselage 1, and the ratio of the fuselage length to the fuselage height is 7:1; The depth of the equipment compartment 2 is 40-50% of the fuselage thickness, the front side of the equipment compartment 2 is 10-15% of the fuselage length from the front end of the streamlined flat fuselage 1, and the rear side is 40-50% from the front end of the streamlined flat fuselage 1 length.

Specifically, in this embodiment, the leading edge sweep angle of the lower wing 3 is 10-20 degrees, the dihedral angle is 4-8 degrees, and the lower wing 3 is 10-25% of the fuselage length from the front end of the streamlined flat fuselage 1. The upper wing 4 has a forward sweep angle of 15-25 degrees, and the lower anhedral angle is 3-5 degrees; the vertical tail 6 is located at the 5-10% fuselage length at the rear of the streamlined flat fuselage 1, and the vertical tail 6 leading edge is swept back 5-15 degrees.

Specifically, in this embodiment, the chord length of the flap 7 is 55-70% of the chord length of the lower wing 3 .

Specifically, in this embodiment, the tilting motor mounts 9 on the left and right sides of the streamlined flat fuselage 1 are located at a distance of 15-30% from the root of the lower wing 3 .

As shown in Figure 4, Figure 4 is a schematic diagram of the UAV transitioning to the level flight state after taking off vertically, including the take-off/hover state, using the rotor mode to fly; the tilt state, which is the transition mode between the two flight modes ; During cruising and level flight, use fixed-wing flight. The hovering, tilting, and forward flight states of the UAV adopt three flight modes: fixed-wing cruise mode, rotor mode, and transition mode. The mode process is as follows: First, the UAV fuselage is placed flat on the ground, and the thrust axes of the three sets of tiltable propeller systems are located in the vertical direction. When taking off, the three sets of tiltable propeller systems generate lift to overcome the UAV’s own gravity. Realize the vertical take-off of UAV. When the flight mode is switched, the three sets of tiltable propeller systems are driven by the tilting mechanism to tilt forward along the tilting axis. The wings generate a certain lift, and the lift generated on the wings and the vertical component of the electric propeller thrust jointly overcome the drone's own gravity to maintain the height of the drone. When the transition mode ends and the entire conversion process is completed, the UAV has the required speed for cruising and level flight. The lift generated by the wings overcomes the UAV’s own gravity, and the thrust generated by the three sets of tiltable propeller systems drives the UAV forward. , to overcome the structural resistance of the UAV. During cruising and level flight, the attitude of the UAV is jointly controlled by the rudder surfaces on the wings, horizontal tail and vertical tail. The process of transitioning from the cruising and level flight state to the landing mode is similar. The three sets of propellers are driven by the tilting mechanism to tilt backward along the tilting axis. During the rotation process, the vertical component of propeller thrust and the lift generated by the wings jointly overcome the aircraft itself. gravity. When the conversion process is over, the thrust axis of the three sets of propellers is along the vertical direction, and the thrust overcomes the gravity of the aircraft itself to achieve fixed-point hovering. When the thrust of the three sets of propellers is reduced at the same time, the aircraft can land vertically.

Next, select this patented UAV and a certain brand of quadrotor UAV for air flight test, and use the flight data as a reference to explain the advantages of this patented UAV.

First, introduce the difference in structure and performance between the vertical take-off and landing tri-rotor UAV with overlapping wings and the quad-rotor UAV. The lift of the rotor UAV is provided by the propeller or ducted fan, which can realize vertical take-off and landing. The requirements for the takeoff and landing site are relatively low, and it can hover stably in the air; however, the level flight efficiency of the rotor drone is low when cruising, and the range is small under the same conditions. However, the utility model has the advantages of both the rotary-wing unmanned aerial vehicle and the fixed-wing unmanned aerial vehicle, and can not only realize vertical take-off and landing under different site conditions, but also realize high-speed cruise in the air. And because of its unique lap-wing wing, the effective area of the wing is greatly increased while keeping the space occupied by the drone, and the wing structure is more stable, so its structural pressure resistance, cruise Efficiency, battery life, and aerodynamic stability will all be enhanced to varying degrees.

The flight experiment site chooses an outdoor open grassland, and the weather conditions have moderate wind disturbance. The same flight path is set for the two drones through the ground station, and the focus is on comparing their stability and wind resistance.

After the prototype test flight, the flight data read from the ground station is analyzed and displayed as shown in Figure 1. Among them, the left column is the flight data of the vertical take-off and landing tri-rotor UAV with overlapping wings, and the order is the set value and estimated value of roll angle, the set value and estimated value of pitch angle, and the set value and estimated value of yaw angle. Estimated value; the right column is the flight data of a quadrotor UAV, and the order of the data is the same as before. The self-stabilization mode was selected for the two test flights to compare the stability of the aircraft.

As shown in Figure 5, in the same image, the set value and estimated value of roll, pitch, and yaw angle can be visually compared, so as to analyze the anti-interference ability and self-stabilization ability of the prototype during the flight test. Compared with a quadrotor UAV, it can be found from the roll angle curve and pitch angle curve that although our test flight is in a weather condition with large air flow fluctuations, and the roll angle of the larger fixed-wing model is affected by the airflow It is more obvious, but the fuselage can still track the error of its own attitude well, and the resulting lag is small, which meets the design requirements as a whole. In the yaw angle curve, this phenomenon is more intuitive, and the UAV does not need to frequently adjust the set value to correct its own attitude error. It is worth noting that in Figure 1, the set value of the yaw angle of the prototype we designed is almost completely coincident with the estimated value, so the red estimated value curve is relatively inconspicuous. After comparison, it can be found that our prototype is under large fluctuations, but the attitude control also achieves better results.

The experimental data is processed, and after calculating the actual Euler angle and the error corresponding to the expected angle, the average and variance of the angle difference are calculated. The experimental data after processing are summarized in Table 1. It can be seen from the table below that the model we designed has more advantages in terms of pitch angle and yaw angle than a certain quadrotor model, both in mean and variance, and has better stability; On the corner, it also has excellent anti-interference ability.

Table 1 Experimental data processing

Therefore, the UAV designed in this patent can track the deviation of its own attitude well, and correct and stabilize itself. Under the large fluctuation of air flow, it can stabilize its own attitude deviation within a small range, and has the advantages of good stability.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes and modifications can be made to these embodiments without departing from the principle and spirit of the present invention , replacements and modifications, the scope of the present utility model is defined by the appended claims and their equivalents.

Claims (10)

1. The vertical take-off and landing three-rotor unmanned aerial vehicle with the lap joint wings is characterized by comprising a lift-type fuselage, a diamond-shaped flying wing, a control surface and a tilting propeller device; the rhombic flying wings are arranged at the left side and the right side of the lifting type airframe, and the lifting type airframe and the rhombic flying wings are integrally formed; the control surface is arranged at the rear edge of the diamond-shaped flying wing; the tilting propeller device is arranged on the tail part of the lifting type fuselage and the diamond flying wings at the left side and the right side.

2. A three rotor unmanned aerial vehicle for vertical lift with overlapping wings according to claim 1, wherein the lift fuselage comprises a streamlined flat fuselage (1) and a device cabin (2); the upper part of the streamline flat body (1) is in a streamline upper convex shape, and the lower part is in transition with a smooth curve shape with an angle of 0 degrees to form a plane which tends to be horizontal; the equipment bin (2) is in an elliptic shape and is positioned at the head of the flat machine body (1).

3. A three rotor unmanned aerial vehicle for vertical take-off and landing with overlapping wings according to claim 2, wherein the diamond-shaped flying wings comprise a lower wing (3), an upper wing (4), an overlapping wing (5) and a vertical tail (6); the lower wing (3) is connected with the upper wing (4) through the lap joint wings (5) in a diamond lap joint layout, and the connection position of the lap joint wings (5) is positioned at the tail end of the wing tip of the lower wing (3); the root of the lower wing (3) is connected with the head of the streamline flat fuselage (1) in a middle single wing mode, and the upper wing (4) is connected with the upper end of the tail of the lifting fuselage through a vertical tail (6); the vertical tail (6) is positioned at the tail part of the streamline flat fuselage (1).

4. A three rotor unmanned aerial vehicle with landing flaps according to claim 3, wherein the control rudder surface comprises flaps (7); the flap (7) is arranged at the trailing edge of the lower wing (3) and is used for comprehensively controlling heading.

5. A three rotor unmanned aerial vehicle with tandem wings for vertical lift as claimed in claim 3, wherein the tiltable propeller means comprises a motor (8), a tilting motor mount (9), a connecting rod (10) and a propeller (11); the number of the tilting motor seats (9) is three, and the tilting motor seats are respectively positioned at the left side, the right side and the tail of the streamline flat machine body (1); the left-right tilting motor seat (9) is connected with the lower wing (3) through a connecting rod (10), the rear tilting motor seat (9) is connected with the middle position of the tail end of the streamline flat machine body (1) through the connecting rod (10), and the left-right rear three tilting motor seats (9) form equilateral triangle distribution; the three motors (8) are respectively fastened on the left tilting motor seat (9) and the right tilting motor seat (9) through screws, and can rotate 0-90 degrees around the vertical line on the horizontal plane in the direction pointed by the machine body under the drive of the tilting motor seat (9); the propellers (11) are respectively connected to the motor (8) and used for generating lifting force, and the propellers (11) on the left side and the right side of the streamline flat machine body (1) are opposite in direction.

6. The three-rotor unmanned aerial vehicle with the lap joint wings for vertical take-off and landing of claim 5, wherein the lower wing (3) and the upper wing (4) adopt the flying wing layout and adopt one of low-speed wing profile, laminar flow wing profile or supercritical wing profile; the propeller (11) is a 2-leaf or 3-leaf propeller, and the blade material is wood or glass fiber.

7. The three-rotor unmanned aerial vehicle with the lap joint wings for vertical take-off and landing according to claim 2, wherein the protruding highest point of the streamline flat-shaped fuselage (1) is positioned at a position 30% of the length of the fuselage from the front end of the streamline flat-shaped fuselage (1), and the ratio of the length of the fuselage to the height of the fuselage is 7:1; the depth of the equipment bin (2) is 40-50% of the thickness of the machine body, the front side of the equipment bin (2) is 10-15% of the length of the machine body from the front end of the streamline flat machine body (1), and the rear side of the equipment bin is 40-50% of the length of the machine body from the front end of the streamline flat machine body (1).

8. A three rotor unmanned aerial vehicle with vertical take-off and landing with overlapping wings according to claim 3, wherein the sweep angle of the front edge of the lower wing (3) is 10-20 degrees, the dihedral angle is 4-8 degrees, the lower wing (3) is 10-25% of the fuselage length from the front end of the streamlined flat fuselage (1); the forward sweep angle of the upper wing (4) is 15-25 degrees, and the downward sweep angle is 3-5 degrees; the vertical fin (6) is positioned at the position of 5-10% of the length of the tail of the streamline flat fuselage (1), and the front edge of the vertical fin (6) is swept back by 5-15 degrees.

9. A three rotor unmanned aerial vehicle with tandem wing vertical take-off and landing as claimed in claim 4, wherein the chord length of the flap (7) is 55-70% of the chord length of the lower wing (3).

10. A three rotor unmanned aerial vehicle with overlapping wings for vertical take-off and landing as claimed in claim 5, wherein the tilting motor seats (9) on the left and right sides of the streamlined flat fuselage (1) are located at 15-30% span length from the root of the lower wing (3).

Images