KR20160070034A - Vertical takeoff and landing unmanned aerial vehicle having fixed wing - Google Patents

Abstract

The wing vertical take-off landing unmanned aerial vehicle according to an embodiment of the present invention includes a wing having a fixed wing without a steering surface, and a plurality of rotor blades disposed at predetermined positions of the wing. The plurality of rotor blades each include a drive motor and at least one asymmetric blade coupled to the drive motor. The asymmetric blade is arranged asymmetrically with respect to the rotation axis of the drive motor. The asymmetric blade is continuously rotated in accordance with the flight mode to generate thrust, or rotated to a predetermined position through the angle proportional control in the stopped state, .
According to the present invention, a plurality of rotor blades are provided on the base body together with the rotor blades, and are continuously rotated or stopped according to the flight mode to rotate to a predetermined position through angle proportional control, thereby providing a separate tilting mechanism It is possible to control the posture of the gas quickly and accurately by adjusting the magnitude of the lift force, as well as to simplify the structure of the gas through it, thereby facilitating maintenance and cost reduction.

Description

{VERTICAL TAKEOFF AND LANDING UNMANNED AERIAL VEHICLE HAVING FIXED WING}

The present invention relates to a vertical take-off landing unmanned aerial vehicle that replaces the steering surface function of a fixed wing using a plurality of propellers.

Generally, a drone flying by induction of a radio wave without a human being is composed of a wing dron having a planar wing on the left and right sides of a base such as an airplane, and a plurality of rotors around the base such as a helicopter And a rotary iron dron to be installed.

As shown in FIG. 7 (a), the fixed-wing drones generate lift through planar wings provided on the right and left sides, and a tilt mechanism is applied to the rear of each wing to provide a control surface capable of pivoting up and down And can control the attitude of the gas during flight.

As shown in FIG. 7 (b), the rotor blade drums generate lift through a plurality of propellers rotated around the base body, and control the flight by partially controlling the plurality of propellers.

However, the fixed-wing drones are capable of high-speed flight and long-term flight through the wings provided on the left and right sides of the gas, but vertical takeoff and landing is impossible and the tilt mechanism applied to the control surface has a complicated structure, There is a problem in that it is difficult to repair, and the production cost is high, resulting in an expensive cost.

In addition, in the case of the rotor blade drums, lift can be generated through a plurality of rotors provided around the gas to enable vertical takeoff and landing and easy control of the posture of the aircraft. However, the flying speed is very slow, the flying time is short, There has been a problem in that the rotor has to be kept in a constantly rotating state.

Korean Patent Registration No. 10-0577757

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to solve the problems of the present invention by combining the advantages of a fixed wing and a flywheel to use a fixed wing during flight, And is capable of performing posture control of the gas quickly by selectively driving the posture control device only.

According to an aspect of the present invention, there is provided a vertical take-off landing unmanned aerial vehicle, comprising: a base having a fixed wing without a control surface; and a plurality of rotor blades disposed at predetermined positions of the base.

The plurality of rotor blades each include a drive motor and at least one asymmetric blade coupled to the drive motor.

The asymmetric blade is arranged asymmetrically with respect to the rotation axis of the drive motor. The asymmetric blade is continuously rotated in accordance with the flight mode to generate thrust, or rotated to a predetermined position through the angle proportional control in the stopped state, .

The asymmetric blade increases the magnitude of the lift in the positive direction when it is rotated to the outside of the base in a state of being arranged in the direction opposite to the flight direction with respect to the flight direction, To increase the magnitude of lift.

Further, the asymmetric blades are rotatable in a range of 90 degrees inward or outward of the base body in a state where the asymmetric blades are arranged in the direction opposite to the flight direction.

In addition, a plurality of the at least one asymmetric blade are installed in the drive motor.

The plurality of asymmetric blades may be spaced apart from each other along the rotational axis of the driving motor and spaced apart from each other in the rotational direction.

In the vertical take-off and landing and low-speed flight modes, the asymmetric blades continuously rotate to generate thrust, and the high-speed cost mode using the fixed- , The asymmetric blade is rotated to a preset position through the angle proportional control in a stopped state to adjust the magnitude of lift.

According to the present invention, a plurality of rotor blades are provided on the base body together with the rotor blades, and are continuously rotated or stopped according to the flight mode to rotate to a predetermined position through angle proportional control, whereby a fixed pilot blade It is possible to perform the posture control of the gas quickly and accurately by adjusting the size of the lift.

Also, during vertical take-off and landing and low-speed flight, it is possible to fly like a general multi-copter by using the change in thrust magnitude according to the number of revolutions per unit time in continuous rotation like a general propeller. And the propeller blade is controlled in proportion to the rotational axis to control the effective range with respect to the flying direction. As a result, the magnitude of the lift generated by the blade can be controlled and used for attitude control of the flying body.

In addition, the structure of the gas is simplified, maintenance is easy, and cost can be reduced.

1 is a schematic view of a wing-like vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2 is a view showing a structure in which a rotor blade is connected to a base in the vertical take-off landing unmanned aerial vehicle of FIG.
3 is a view illustrating a state in which asymmetric blades of a fixed wing vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention are rotated differently according to a flight mode.
4 is a view for explaining the magnitude of the lift according to the position of the asymmetric blade of the fixed wing vertical take-off landing unmanned aerial vehicle according to the embodiment of the present invention.
5 is a graph showing the magnitude of lift according to the maximum rotation angle and the rotation angle of the asymmetric blade of the fixed wing vertical take-off and landing unmanned aerial vehicle according to the embodiment of the present invention.
6 is a view showing a state where a plurality of asymmetric blades of a fixed wing vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention are installed in a driving motor.
7 is a schematic view of a conventional vertical take-off and landing unmanned aerial vehicle.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic view of a wing-type vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention. FIG. 2 is a view illustrating a structure in which a flywheel is connected to a base in a vertical take- The asymmetric blades of the fixed wing vertical take-off and landing unmanned aerial vehicle according to the example are rotated differently according to the flight mode. 4 is a view for explaining the magnitude of the lift according to the position of the asymmetric blade of the fixed wing vertical take-off and landing unmanned aerial vehicle according to the embodiment of the present invention. 6 is a graph showing a state where a plurality of asymmetric blades of a fixed wing vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention are installed on a driving motor.

1 and 2, a fixed wing vertical take-off / landing / unmanned aerial vehicle 100 according to an embodiment of the present invention includes a base 10 and a base 10, And a fixed wing 20 symmetrically disposed on the right side and not provided with a steering surface. For reference, the structure in which the rotor blade 30 and the base 10 are connected to each other as described later with reference to FIG. 1 has been omitted for convenience of explanation.

Also, the vertical take-off and landing UAV 100 includes a plurality of rotor blades 30 disposed at predetermined positions of the base 10.

The plurality of rotor blades 30 each include at least one asymmetric blade 33 coupled to a drive motor 31 and a drive motor 31 connected to the base 10 and disposed forwardly and rearwardly of the rotor blades 20, Thereby generating lifting force or thrust force to the base 10, or selectively driving the base 10 to perform posture control of the base 10.

The asymmetric blades 33 are arranged asymmetrically on the upper portion of the driving motor 31 around the rotation axis of the driving motor 31 and are continuously rotated in accordance with the flying mode to generate thrust, The angle of the lift is rotated to a predetermined position within a predetermined range through the angle proportional control to adjust the size of the lift.

That is, as shown in FIG. 3A, the asymmetric blade 33 generates a thrust in a vertical direction to continuously raise the base 10 in the vertical direction . As shown in FIG. 3 (b), the size of the lift received by the base 10 can be adjusted when the base 10 is rotated from a stopped state to a predetermined position. 3 (b), the moment acting on the base 10 by the lift acting on the center of gravity of the asymmetric blade 33 can be expressed by the following equation (1).

[Equation 1]

Moment = Lift * Distance from centerline (Distance from centerline)

More specifically, the asymmetric blade 33 continuously rotates like a general propeller during vertical take-off or landing or low-speed flight, so that it can fly in the same manner as a general multi-copter using the change in thrust magnitude according to the number of revolutions per unit time do.

In forward flight using the fixed wing 20, as shown in FIG. 4, angle control is performed on the rotation axis to control an effective domain of the flight direction, And adjusts the magnitude of lift generated by the asymmetric blade 33 and is used to control the attitude of the base 10. At this time, although not shown in the drawing, a thrust propeller may be separately mounted on the stern of the fixed wing 20 or the base 10 so as to generate propulsive force in forward flight. 4 (a) shows a case in which the asymmetric blade 33 is 90 degrees in the positive direction with respect to the flying direction of the base 10, and Fig. 4 (b) In the positive direction in the flight direction of the vehicle.

5, the asymmetric blades 33 are arranged in the direction opposite to the flight direction parallel to the flight direction (corresponding to 0 degree rotation angle of the asymmetric blade 33) (Positive direction), the magnitude of the lift force in the positive direction is increased. On the contrary, when the force is rotated inside (negative direction) of the base 10, the magnitude of the lift force in the negative direction can be increased .

That is, when the asymmetric blade 33 increases between 0 and +90 degrees, the magnitude of the lift acting on the base 10 increases in the positive direction, and conversely, when the asymmetric blade 33 moves from 0 degrees to 90 degrees The magnitude of lift applied to the base 10 can increase in the negative direction.

On the other hand, the asymmetric blade 33 can be formed in a structure capable of increasing the magnitude of thrust.

Referring to FIG. 6, asymmetric blades 33 may be installed in the drive motor 31 in a plurality of ways.

More specifically, the asymmetric blades 33 may be provided at a plurality of spaced apart from each other along the direction of the rotation axis RA of the drive motor 31. At this time, asymmetrical blades 33 provided in a plurality may be disposed at a predetermined angle (?) In the rotational direction. That is, in order to increase the amount of thrust per unit area, a plurality of asymmetric blades 33 may be applied. However, when a plurality of asymmetric blades 33 are applied, a plurality of asymmetric blades 33 are spaced apart from each other by a predetermined distance in the direction of the rotation axis RA, It is preferable that the asymmetric blade 33 is not located.

As described above, according to the present invention, a plurality of rotor blades 30 are provided on the base 10 together with the rotor blades 20 and are continuously rotated or stopped according to the flight mode, and are rotated to a predetermined position through angle proportional control, It is possible to quickly and accurately control the posture of the base 10 by adjusting the size of the lift without providing a separate control surface to which an expensive tilt mechanism is applied.

In addition, during vertical takeoff and landing and low-speed flight using the rotor blades 30, it is possible to fly like a general multi-copter by using a change in thrust magnitude according to the number of revolutions per unit time in continuous rotation like a general propeller, 20, the propulsion force is generated through the propeller mounted on the stern of the fixed blade 20 or the airframe 10, and after the continuous rotation of the asymmetric blade 33 is stopped, As a result, the magnitude of the lift generated by the asymmetric blade 33 can be manipulated and used to control the attitude of the base 10 by controlling the blade 33 in an angle-proportional manner with respect to the rotation axis to control the effective range with respect to the flying direction .

Further, the structure of the base 10 can be simplified to facilitate maintenance and reduce costs.

While the present invention has been particularly shown and described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, And all changes and modifications to the scope of the invention.

100. Vertical takeoff and landing UAV
10. Gas
20. Fixed income
30. Rotor blade
31. Driving motor 33. Asymmetric blade
RA. Rotating shaft
FLIGHT DIRECTION. Flight direction

Claims (8)

A gas having fixed wings not provided with a control surface, and
A plurality of rotor blades arranged at a predetermined position of the base,
Vertical take - off landing craft. The method of claim 1,
The plurality of rotor blades
Drive motor, and
At least one asymmetric blade coupled to the drive motor
Vertical takeoff and landing UAVs including fixed wings. 3. The method of claim 2,
The asymmetric blade
The driving motor is disposed in an asymmetrical structure with respect to the rotational axis of the driving motor. The driving motor rotates continuously according to the flight mode to generate thrust, or rotates to a predetermined position through angle proportional control in a stopped state, Takeoff and landing. 4. The method of claim 3,
The asymmetric blade
When it is rotated in the direction opposite to the flying direction with respect to the flying direction, increases the magnitude of the lift in the positive direction when it is rotated to the outside of the airframe and conversely increases the magnitude of the lift in the negative direction Wing vertical take - off landing. 5. The method of claim 4,
The asymmetric blade
Wherein the main body is rotatable in a range of 90 degrees inward or outward of the base body in a state of being arranged in a direction opposite to the flight direction with respect to the flight direction. 3. The method of claim 2,
Wherein the at least one asymmetric blade is installed in the driving motor. The method of claim 6,
The plurality of asymmetric blades
Wherein the vertical take-off landing and landing is a vertical take-off landing. 4. The method of claim 3,
The asymmetric blades may continuously rotate to generate a thrust in the vertical take-off and landing and low-speed flight modes,
In the high-speed cost mode using the fixed blade, the asymmetric blade is rotated to a preset position through the angle proportional control in the stopped state to adjust the size of the lift
Vertical takeoff and landing UAV.

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