An unmanned aerial vehicle capable of vertical take-off and landing and attitude control by rotor tilting

Abstract

The utility model discloses a kind of unmanned aerial vehicle for realizing vertical take-off and attitude control using rotor steering, there are two across installation in left and right wings in flight direction on hanger, hanger front end and rear end are equipped with rotors and power device that can be steered;When horizontal flight, front rotor generates pull, rear rotor generates thrust;Front rotor and power device vertically upward rotate 90 ° and generate upward pull, rear rotor and power device downward rotate 90 ° and generate upward thrust, realize unmanned aerial vehicle vertical take-off;Unmanned aerial vehicle flight attitude is controlled using deflection combination of front two rotors and rear two rotors, and using deflection combination of same side hanger front and rear rotors;Make unmanned aerial vehicle have good maneuverability, save horizontal stabilizer and elevator, save vertical stabilizer and rudder, thereby reduce flight resistance, it is favorable to improve the effective load of unmanned aerial vehicle.

Description

Technical Field

[0001] A drone that utilizes rotor steering for vertical takeoff and landing (VTOL) and attitude control features two booms mounted across the left and right wings in the direction of flight. Rotorable rotors and power units are mounted at the front and rear ends of the booms. During horizontal flight, the front rotor generates pull, and the rear rotor generates thrust. The rotors mounted on the booms, along with the power units, rotate vertically upwards and downwards via a worm gear transmission mechanism or a self-locking torque motor. A 90° upward rotation of the front rotor and power unit generates upward pull, while a 90° downward rotation of the rear rotor and power unit generates upward thrust. The resultant force of the upward pull and thrust from the four rotors is positioned at the drone's center of gravity, enabling VTOL. The simultaneous upward (downward) deflection of the two front rotors causes the fuselage to pitch up (down) around its horizontal axis of gravity; the simultaneous upward (downward) deflection of the rear rotor causes the fuselage to pitch up (down) around its horizontal axis of gravity; when the front rotor of the boom on the same side deflects upward (downward) and the rear rotor deflects downward (upward) simultaneously, the fuselage will produce an upward (downward) roll yaw around the drone's longitudinal axis; the different combinations of rotor deflection are used to control the drone's flight attitude. Background Technology

[0002] Currently, fixed-wing drones typically employ compound airfoils for vertical takeoff and landing (VTOL). This means they utilize rotors mounted on booms on both wings to generate lift for vertical takeoff and landing, while propellers located at the front or rear of the fuselage provide power for horizontal flight. Once a predetermined speed is reached, the rotors providing VTOL lift cease operation, and the drone exhibits all the characteristics of a fixed-wing drone. Flight stability is ensured by the aerodynamic characteristics of the horizontal and vertical stabilizers; attitude control is achieved using the drone's elevators, rudders, and ailerons. Both flight stability and attitude control are related to the drone's aerodynamic characteristics, limiting its maneuverability. The lift rotors, which do not generate power for horizontal flight, and the components used for flight stabilization and attitude control, create additional aerodynamic drag during horizontal flight. Summary of the Invention

[0003] A type of unmanned aerial vehicle (UAV) that utilizes rotor steering for vertical takeoff and landing (VTOL) and attitude control has two booms mounted across the left and right wings in the direction of flight. Rotorable rotors and power units are mounted at the front and rear ends of the booms. During horizontal flight, the front rotor generates pull, and the rear rotor generates thrust. The rotors on the booms, along with the power units, rotate vertically upwards or downwards via a worm gear transmission mechanism or a self-locking torque motor. A 90° upward rotation of the front rotor and power unit generates upward pull, while a 90° downward rotation generates upward thrust. The resultant force of the upward pull and thrust from the four rotors is positioned at the UAV's center of gravity, enabling VTOL takeoff and landing. The simultaneous upward (downward) deflection of the two front rotors causes the fuselage to pitch up (down) around its horizontal axis of gravity; the simultaneous upward (downward) deflection of the two rear rotors causes the fuselage to pitch up (down) around its horizontal axis of gravity; the upward (downward) deflection of the front rotor on the same side boom and the simultaneous downward (upward) deflection of the rear rotor cause the fuselage to tilt up (down) around the drone's longitudinal axis; the different combinations of rotor deflection achieve the control of the drone's flight attitude.

[0004] The beneficial effects of this invention are: it utilizes rotor steering to achieve vertical take-off and landing and attitude control, giving the UAV good maneuverability; it eliminates the need for a horizontal stabilizer and elevator, as well as a vertical stabilizer and rudder, thereby reducing aerodynamic drag and improving the UAV's flight speed and payload. Attached Figure Description

[0005] Figure 1 This is a top view of a UAV that uses rotor steering to achieve vertical takeoff and landing and attitude control. The nose is pointing upwards. In the figure, 1 is the wing; 2 is the left front rotor; 3 is the power unit; 4 is the rotating component; 5 is the left boom; 6 is the fuselage; 7 is the right front rotor; 8 is the power unit; 9 is the rotating component; 10 is the right boom; 11 is the power unit; 12 is the right rear rotor; 13 is the left rear rotor; 14 is the power unit; and 15 is the rotating component. Figure 2 This is a rear-facing front view of a UAV that uses rotor steering to achieve vertical take-off and landing and attitude control. In this view, 16 is the left wing; 17 is the rear left rotor; 18 is the left landing gear; 19 is the fuselage; 20 is the main landing gear; 21 is the right landing gear; 22 is the right rear rotor; and 23 is the right wing. Figure 3 This is a left view of a UAV that uses rotor steering to achieve vertical takeoff and landing and attitude control. In this view, 24 is the main landing gear; 25 is the left landing gear; 26 is the fuselage; 27 is the left front rotor; 28 is the power plant; 29 is the left boom; 30 is the left wing; 31 is the power plant; and 32 is the left rear rotor. Figure 4This is a top view of a UAV whose rotor rotates vertically by 90° to achieve vertical take-off and landing and attitude control. In the image, 33 is the wing; 34 is the left front rotor; 35 is the left boom; 36 is the left rear rotor; 37 is the fuselage; 38 is the right wing; 39 is the right front rotor; 40 is the right boom; and 41 is the right rear rotor. Figure 5 This is a front view of a UAV whose rotor rotates vertically by 90° to achieve vertical take-off and landing and attitude control, from the rear of the fuselage. Among them, 42 is the left wing; 43 is the left front rotor; 44 is the left rear rotor; 45 is the left landing gear; 46 is the fuselage; 47 is the main landing gear; 48 is the right landing gear; 49 is the right front rotor; and 50 is the right rear rotor. Figure 6 This is a left view of a UAV whose rotor rotates vertically by 90° to achieve vertical take-off and landing and attitude control. In this view, 51 is the fuselage; 52 is the front landing gear; 53 is the left landing gear; 54 is the power unit; 55 is the left rear rotor; 56 is the power unit; 57 is the left front rotor; 58 is the left wing; and 59 is the left boom. Figure 7 This is a front view of a rotating component with a worm gear transmission mechanism, where 60 is the power output shaft of the power unit, on which the rotor and fairing are fixed; 61 is the power unit; 62 is the worm; 63 is the shaft of the rotating component; 64 is the worm wheel of the rotating component; 65 is the drive motor of the worm; and 66 is the fixed base of the rotating component. Figure 8 This is a top view of a rotating component with a worm gear transmission mechanism, where 67 is the power output shaft of the power unit; 68 is the power unit; 69 is the worm gear of the rotating component; 70 is the worm; 71 is the fixed base of the rotating component; and 72 is the drive motor of the worm gear of the rotating component. Figure 9 This is a left view of a rotating component with a worm gear transmission mechanism, where 73 is the fixed base of the rotating component; 74 is the power unit; and 75 is the power output shaft of the power unit. Figure 10 This is a front view of a worm gear transmission mechanism with the power unit facing upwards. In this view, 76 is the power output shaft of the power unit; 77 is the power unit; 78 is the worm; 79 is the worm wheel shaft; 80 is the worm wheel; 81 is the drive motor of the rotating worm; and 82 is the fixed base of the rotating component. Figure 11 This is a top view of a worm gear transmission mechanism with the power unit facing upwards. In this view, 83 is the power unit; 84 is the power output shaft of the power unit; 85 is the worm; 86 is the worm wheel; 87 is the fixed base of the rotating component; and 88 is the drive motor of the worm gear. Figure 12 This is a left view of a worm gear transmission mechanism with the power unit facing upwards. In the view, 89 is the power output shaft of the power unit; 90 is the power unit; and 91 is the worm gear shaft. Figure 13 This is a front view of the rotating components of the power unit, where 92 is the power output shaft of the power unit; 93 is the power unit itself. Figure 14This is a top view of the rotating components of the power unit, where 94 is the power output shaft of the power unit; 95 is the power unit itself. Figure 15 Left view of the rotating components of the power unit, where 96 is the power unit; 97 is the power output shaft of the power unit. Detailed Implementation

[0006] Rotor and boom layout: Two booms are straddled on the left and right wings in the direction of flight, symmetrically mounted relative to the fuselage's longitudinal axis. The front rotor and power unit of the left boom are symmetrically mounted relative to the fuselage's longitudinal axis, as are the front rotor and power unit of the right boom. The rear rotor and power unit of the left boom are symmetrically mounted relative to the fuselage's longitudinal axis, as are the rear rotor and power unit of the right boom. The front and rear rotors and power units of the left boom are symmetrically mounted relative to the fuselage's transverse axis of gravity, as are the front and rear rotors and power units of the right boom. During horizontal flight, the front rotor generates thrust, and the rear rotor generates pull. The front and rear rotors on the same side rotate in the same direction; viewed from the front of the drone towards the rear, the front and rear rotors of the left boom rotate clockwise, and the front and rear rotors of the right boom rotate counterclockwise. The rotors mounted on the booms, along with their power units, can rotate upwards and downwards via rotating components with worm gear transmission mechanisms (or motors with self-locking torque). The front rotor and power unit rotate upwards by 90° to generate upward pull, while the rear rotor and power unit rotate downwards by 90° to generate upward thrust. The symmetrical arrangement of the rotors relative to the drone's longitudinal and transverse axes ensures that the center of the resultant upward pull and thrust from the four rotors is located at the drone's center of gravity, enabling vertical takeoff and landing. The simultaneous upward (downward) deflection of the front rotors on both booms generates pull that causes the fuselage to tilt positively about its transverse axis of gravity; the simultaneous upward (downward) deflection of the rear rotors on both booms generates thrust that causes the fuselage to tilt positively about its transverse axis of gravity; the upward (downward) deflection of the front rotor on the same boom and the simultaneous downward (upward) deflection of the rear rotor on the same side create a resultant upward (downward) force, causing the drone's fuselage to tilt upwards (downwards) about its longitudinal axis; different combinations of rotor deflection control the drone's flight attitude.

[0007] In terms of flight control system configuration, the UAV's flight control system combines and adjusts the rotor thrust direction according to the attitude signals output by the UAV's attitude sensors. Without aerodynamic flight attitude stabilization and adjustment control components, it achieves flight attitude stabilization and control for the fixed-wing UAV. Simultaneous upward (downward) deflection of the front rotors on both booms causes the fuselage to pitch up (down) around its center of gravity axis; simultaneous upward (downward) deflection of the rear rotors on both booms causes the fuselage to pitch up (down) around its center of gravity axis. By combining the steering of the front rotors or the rear rotors on either boom, attitude control in the pitch direction is achieved. Upward (downward) deflection of the front rotor and simultaneous downward (upward) deflection of the rear rotor on the same boom side causes the fuselage to tilt up (down) around its longitudinal axis. The combination of deflection of the front and rear rotors on the same boom side achieves flight attitude control around the longitudinal axis. During horizontal flight, the front rotor of the left and right booms generates pull and the rear rotor generates thrust, which together overcome aerodynamic drag. Different combinations of rotor deflection control the UAV's pitch and roll attitude. The stability and attitude changes of the UAV are no longer related to its aerodynamic attitude adjustment components (horizontal and vertical stabilizers, elevators, and rudders). The absence of aerodynamic drag from these components, which helps increase the UAV's payload, is beneficial. Among the rotating components, the power unit (… Figure 7 61) and the worm gear of the rotating component ( Figure 7 64) utilizes a rotating shaft ( Figure 7 63) are fixed together; when there is a control signal, the drive motor ( Figure 7 65) drives the worm gear ( Figure 7 The 62 in the middle rotates, thereby driving the worm gear ( Figure 7 64) and power unit ( Figure 7 61) rotates together. Rotating parts ( Figure 13 The shaft hole of (93) has a keyway for connecting with the worm gear. Figure 7 (64) and the power unit are fixedly connected.

Claims

1. A UAV that utilizes rotor steering to achieve vertical takeoff and landing and attitude control, comprising two booms mounted across the left and right wings in the direction of flight, with steerable rotors and power units installed at the front and rear ends of the booms, and rotating components for deflecting the rotors upward and downward, characterized in that: By utilizing a 90° rotor rotation to achieve vertical takeoff and landing, and by using different combinations of rotor deflection to control the UAV's flight attitude, the UAV has excellent maneuverability. The elimination of the horizontal stabilizer and elevator, as well as the vertical stabilizer and rudder, reduces aerodynamic drag and helps to improve the UAV's flight speed and payload.

2. The UAV that utilizes rotor steering to achieve vertical takeoff and landing and attitude control according to claim 1, characterized in that: The rotating parts are either worm gear transmission mechanisms or motors with self-locking holding torque.

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