A heavy-load long-endurance tilt-rotor unmanned aerial vehicle

Abstract

The application discloses a heavy-load long-endurance tilting rotor unmanned aerial vehicle. The unmanned aerial vehicle comprises a wing frame for supporting and tilting, unmanned wings installed on symmetrical two sides of the wing frame, a cargo hold installed on the lower part of the wing frame and used for loading goods, and an unmanned aerial vehicle hydraulic system installed on the cargo hold and used for controlling the unmanned wings. The unmanned aerial vehicle can realize vertical take-off and landing, hovering and fast level flight, is easy to control the moving direction and has strong environmental adaptability. The unmanned aerial vehicle has simple structure, low take-off requirement, small wind resistance, fast level flight speed, low energy consumption and long endurance, so that the voyage and load can be increased. The wing frame overall tilting system has low structural complexity, airflow disturbance is reduced, and the safety of flight mode conversion can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a tilt-rotor unmanned aerial vehicle, and relates to the field of unmanned aerial vehicles, and particularly relates to a heavy-load long-endurance tilt-rotor unmanned aerial vehicle. BACKGROUND

[0002] In recent years, the unmanned aerial vehicle industry has developed rapidly. Unmanned aerial vehicles are mainly divided into fixed-wing and multi-rotor structures. The fixed-wing unmanned aerial vehicle can fly at a high speed, carry a large payload, and has a long endurance time, but it usually needs a runway for take-off and landing, and the vertical take-off and landing is limited. The multi-rotor unmanned aerial vehicle can vertically take off and land, is easy to control, has high stability, and can accurately hover, but its flight speed is low, is not suitable for tasks that need to quickly cover a large area, and needs to consume energy to maintain hovering, so the endurance time is short.

[0003] The advantages of fixed-wing and multi-rotor unmanned aerial vehicles are combined to realize vertical take-off and landing and fast flat flight. The difficulty of take-off and landing of the unmanned aerial vehicle can be reduced, and the load-carrying and endurance capabilities of the unmanned aerial vehicle can be improved. The conventional tilt-rotor unmanned aerial vehicle only tilts different rotors, and the control is prone to failure, and is prone to cause structural interference and airflow disturbance, so the risk coefficient is large. SUMMARY

[0004] In order to solve the problems in the background art, the present application provides a heavy-load long-endurance tilt-rotor unmanned aerial vehicle. The present application combines the advantages of rotors and fixed-wing unmanned aerial vehicles, adopts a wing frame whole rotation mode, enhances the safety of motion mode conversion, and improves the load-carrying and endurance capabilities of the unmanned aerial vehicle.

[0005] The technical scheme adopted by the present application is as follows:

[0006] The heavy-load long-endurance tilt-rotor unmanned aerial vehicle of the present application comprises a wing frame for supporting and tilting; comprises an unmanned aerial vehicle wing installed on the symmetrical two sides of the wing frame; comprises a cargo hold installed on the lower part of the wing frame and used for loading goods; and comprises an unmanned aerial vehicle hydraulic system installed on the cargo hold and used for controlling the unmanned aerial vehicle wing.

[0007] The wing frame is in the shape of a ladder, the wing frame comprises two installation plates arranged in parallel and facing each other at intervals, and three wing connecting rods connected between the two installation plates, the three wing connecting rods are uniformly and evenly spaced and arranged in parallel along the length direction of the wing frame and are perpendicular to the two installation plates; the unmanned aerial vehicle wing is symmetrically installed on the two side surfaces of the two installation plates away from the center of the wing frame, and the cargo hold is hingedly connected to the bottom of the two installation plates.

[0008] The unmanned wing comprises two side wings, which are symmetrically installed on two installation plates of the wing frame away from the center of the two installation plates respectively, each side wing comprises a main wing, a rear aileron, a front aileron and three rotors, the front aileron, the main wing and the rear aileron are sequentially and uniformly spaced along the length direction of the wing frame and arranged in parallel and perpendicularly to the two installation plates, the root ends of the two front ailerons, the root ends of the two main wings and the root ends of the two rear ailerons are connected by one wing connecting rod respectively, the tail ends of the front aileron, the main wing and the rear aileron are provided with one rotor respectively, the rotor installed on the front aileron comprises a front end rotor and a first rotor protection cover, the rotor installed on the main wing comprises a middle rotor and a second rotor protection cover, the rotor installed on the front aileron comprises a rear end rotor and a third rotor protection cover, each rotor protection cover is concentrically sleeved outside the corresponding front end rotor, middle rotor and rear end rotor and is installed at the tail end of the front aileron, the main wing and the rear aileron respectively, and the rear end rotor, the middle rotor and the front end rotor are communicated to the hydraulic system of the unmanned aerial vehicle.

[0009] The angle between the length direction of the installation plate of the wing frame from the rear aileron to the front aileron and the width direction of the plate surface of the main wing of the unmanned wing from the bottom surface of the wing frame to the top surface is 45 degrees, and the rotation surface of each rotor is perpendicular to the plate surface of the main wing.

[0010] The size of the rear aileron and the front aileron is the same, and the length of the main wing is greater than the length of the rear aileron and the front aileron.

[0011] The cargo cabin is a hollow isosceles right triangle structure, two ends of the top corner side of the cargo cabin are provided with discs, the two discs are provided with a cargo cabin shaft, the top corner side of the cargo cabin is hingedly connected between the center of the bottom edges of the two installation plates of the wing frame and faces one wing connecting rod in the middle, one side of the cargo cabin close to the rear end rotor of the unmanned wing is symmetrically provided with two L-shaped take-off and landing hovering rotatable locking nails, one segment of each take-off and landing hovering rotatable locking nail is perpendicularly hinged on the side surface of the cargo cabin, and the other segment is parallel or perpendicular to the side plate surface of the installation plate of the wing frame, the other side of the cargo cabin close to the front end rotor of the unmanned wing is symmetrically provided with two L-shaped cruising rotatable locking nails, one segment of each cruising rotatable locking nail is perpendicularly hinged on the other side surface of the cargo cabin, and the other segment is parallel or perpendicular to the side plate surface of the installation plate of the wing frame, when the bottom surface of the wing frame rotates to be close to a side surface of the cargo cabin, the two take-off and landing hovering rotatable locking nails or the two cruising rotatable locking nails on the side surface pass between the two installation plates of the wing frame, one segment of each is close to the inner side surface of the corresponding installation plate, and the other segment rotates from the state of being parallel to the installation plate to the state of being perpendicular to the installation plate and buckles the top surface of the installation plate, so that the wing frame and the cargo cabin are close.

[0012] The wing frame is rotatable relative to the cargo compartment shaft, and the wing frame is fixed through the limiting pin in the shaft and the rotatable locking nails on the front and rear sides of the cargo compartment. The unmanned aerial vehicle is fixed through the limiting pin in the disc inside the disc and the rotatable locking nails on the front and rear sides of the cargo compartment shaft. The disc has two limiting holes distributed at an angle of 90 degrees. When the wing frame is rotated to an angle of 45 degrees with the ground, that is, the unmanned aerial vehicle is in a vertical take-off and landing or hovering state, or an angle of 135 degrees with the ground, that is, the unmanned aerial vehicle is in a flat flight state, the unmanned aerial vehicle receives a signal, controls the limiting pin to automatically pop into the corresponding limiting hole for locking, and controls the corresponding rotatable locking nail on the front side or the rear side to rotate by 90 degrees to press the wing frame to be fixed, so that the vertical or horizontal state of the rotor, the main wing and the aileron is maintained.

[0013] Each disc is provided with two limiting holes distributed at an angle of 90 degrees and a limiting pin, and the cargo compartment shaft of the cargo compartment is limited in the two limiting holes opposite to each other through the limiting pin.

[0014] When the flight mode of the unmanned aerial vehicle needs to be changed, the limiting pin is opened, the wing frame is rotated to the vertical or horizontal state of the rotor, and the limiting pin is automatically popped into the wing frame to fix it. There are two rotatable locking nails on the front and rear sides of the cargo compartment, and when the wing frame is rotated to the vertical or horizontal state of the rotor, the rotatable locking nail is rotated by 90 degrees to press the wing frame to be fixed.

[0015] The control method of the tilt-rotor unmanned aerial vehicle comprises the following steps:

[0016] When the tilt-rotor unmanned aerial vehicle is in a vertical take-off and landing or hovering mode, the bottom surface of the cargo compartment is parallel to the ground, the wing frame has an angle of 45 degrees with the ground, the rear aileron is located below the main wing and the front aileron, the two take-off and landing rotatable locking nails hold the top surface of the mounting plate, so that one side surface of the cargo compartment is close to the bottom surface of the wing frame near the two take-off and landing rotatable locking nails, and the cargo compartment shaft is limited in the two limiting holes opposite to each other through the limiting pin. The plate surfaces of each main wing, rear aileron and front aileron of the unmanned aerial vehicle wing are in a vertical state, and the rotation surfaces of each rotor are in a horizontal state. The hydraulic system of the unmanned aerial vehicle controls each rotor to rotate by the same angle and provides all upward lift, so that the tilt-rotor unmanned aerial vehicle is vertically taken off and landed or hovered.

[0017] When the tilt-rotor unmanned aerial vehicle is converted from the vertical take-off or hovering mode to the flat flight mode, the bottom surface of the cargo compartment is always parallel to the ground, one segment of the two take-off and hovering rotatable locking nails is rotated to make the other segment parallel to the side plate surface of the mounting plate, at this time, the other segment of the two flat flight rotatable locking nails is parallel to the side plate surface of the mounting plate, the limiting pin of the cargo compartment is opened, the unmanned aerial vehicle hydraulic system controls the rotation of each rotor to make the rotation speed of the rear rotor greater than that of the front rotor, the wing frame is rotated around the cargo compartment shaft to an angle of 135 degrees with the ground, the front aileron is moved to be below the main wing and the rear aileron, one segment of the two flat flight rotatable locking nails is rotated to make the other segment perpendicular to the side plate surface of the mounting plate and buckle the top surface of the mounting plate, so that the other side surface of the cargo compartment is close to the wing frame and close to the bottom surface of the two flat flight rotatable locking nails, and the cargo compartment shaft is limited by the limiting pin in the other two limiting holes opposite to the two disc limiting holes.

[0018] The unmanned aerial vehicle has the dual characteristics of rotors and fixed wings, has six rotors, that is, has six degrees of freedom, and the motion direction is controlled conveniently.

[0019] The beneficial effects of the present application are:

[0020] 1、The present application has the advantages of both rotor and fixed wing unmanned aerial vehicles, can vertically take off, hover and quickly fly flat, has six degrees of freedom, is easy to control the motion direction and has strong environmental adaptability.

[0021] 2、The present application uses a fuel engine and a hydraulic system as a power source, compared with motor driving, has strong load capacity and stable operation.

[0022] 3、The present application has simple structure, small wind resistance, low energy consumption and long endurance.

[0023] 4、The present application realizes the tilting of the wing frame as a whole by the differential rotation of the rotors on the wing frame, achieves the conversion of the motion mode.

[0024] In summary, the UAV of this invention has the advantages of low takeoff and landing requirements, high level flight speed, and low energy consumption, thereby increasing range and payload. The overall rotation of the wing frame reduces airflow disturbance and improves the safety of flight mode switching. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the drone;

[0026] Figure 2 A side view showing the positions of the wing, rotor, main wing, and ailerons during vertical takeoff, landing, and hovering of a drone;

[0027] Figure 3 A top view showing the positions of the wing, rotor, main wing, and ailerons during vertical takeoff, landing, and hovering of a drone;

[0028] Figure 4 A side view showing the positions of the wing frame, rotor, main wing, and ailerons during rapid level flight of a drone;

[0029] Figure 5 A front view showing the positions of the wing frame, rotor, main wing, and ailerons during rapid level flight of a drone;

[0030] In the diagram: 1. Main wing, 2. Rear aileron, 3. Front aileron, 4. Rotor, 4-1. Rear rotor, 4-2. Mid rotor, 4-3. Front rotor, 5. Rotor shield, 6. Wing frame, 7. Wing connecting rod, 8. Cargo hold, 8-1. Disc, 8-2. Rotatable locking pin for takeoff and landing, 8-3. Rotatable locking pin for level flight. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 As shown, the heavy-load, long-endurance tiltrotor drone of the present invention includes a wing frame 6 for support and tilting, drone wings mounted on both symmetrical sides of the wing frame 6, a cargo compartment 8 mounted on the lower part of the wing frame 6 for loading cargo, and a drone hydraulic system mounted on the cargo compartment 8 for controlling the drone wings.

[0033] The wing frame 6 is ladder-shaped and includes mounting plates arranged parallel to each other on both sides and three wing connecting rods 7 connecting the two mounting plates. The three wing connecting rods 7 are evenly spaced and arranged parallel to each other along the length of the wing frame and are all perpendicular to the two mounting plates. The unmanned wing is symmetrically installed on the two sides of the two mounting plates away from their own center, and the cargo hold 8 is hinged to the middle of the bottom of the two mounting plates.

[0034] The unmanned aircraft wing comprises two side wings symmetrically installed on two installation plates of the wing frame 6 away from the center of the wing frame 6, each side wing comprising a main wing 1, a rear aileron 2, a front aileron 3 and three rotors 4, the front aileron 3, the main wing 1 and the rear aileron 2 being arranged in parallel and vertically to the two installation plates along the length direction of the wing frame, and the root ends of the two front ailerons 3, the root ends of the two main wings 1 and the root ends of the two rear ailerons 2 being connected by a wing connecting rod 7 respectively; the end of the front aileron 3, the main wing 1 and the rear aileron 2 is provided with a rotor 4, the rotor 4 installed on the front aileron 3 comprising a front rotor 4-3 and a first rotor protection cover 5, the rotor 4 installed on the main wing 1 comprising a middle rotor 4-2 and a second rotor protection cover 5, and the rotor 4 installed on the front aileron 3 comprising a rear rotor 4-1 and a third rotor protection cover 5, each rotor protection cover 5 being concentrically sleeved outside the front rotor 4-3, the middle rotor 4-2 and the rear rotor 4-1 and being installed at the end of the front aileron 3, the main wing 1 and the rear aileron 2 respectively; the rear rotor 4-1, the middle rotor 4-2 and the front rotor 4-3 are communicated to the hydraulic system of the unmanned aerial vehicle.

[0035] The angle between the length direction of the installation plate of the wing frame 6 from the rear aileron 2 to the front aileron 3 and the width direction of the plate surface of the main wing 1 from the bottom surface of the wing frame 6 to the top surface is 45 degrees, and the rotation surface of each rotor 4 is perpendicular to the plate surface of the main wing 1.

[0036] The size of the rear aileron 2 and the front aileron 3 is the same, and the length of the main wing 1 is greater than the length of the rear aileron 2 and the front aileron 3.

[0037] The cargo hold 8 is a hollow isosceles right triangle structure, two ends of the top corner side of the cargo hold 8 are respectively provided with a disc 8-1, and the two discs 8-1 are provided with a cargo hold shaft; the top corner side of the cargo hold 8 is hingedly connected between the center of the bottom side of the two mounting plates of the wing frame 6 and a wing connecting rod 7 opposite to the center; two L-shaped take-off and landing hovering rotatable locking nails 8-2 are symmetrically arranged on one side of the cargo hold 8 close to the rear end rotor 4-1 of the unmanned wing; one segment of each of the two L-shaped take-off and landing hovering rotatable locking nails 8-2 is perpendicularly hingedly connected on one side of the cargo hold 8, and the other segment is parallel or perpendicular to the side plate of the mounting plate of the wing frame 6; two L-shaped horizontal flight rotatable locking nails 8-3 are symmetrically arranged on the other side of the cargo hold 8 close to the front end rotor 4-3 of the unmanned wing; one segment of each of the two L-shaped horizontal flight rotatable locking nails 8-3 is perpendicularly hingedly connected on the other side of the cargo hold 8, and the other segment is parallel or perpendicular to the side plate of the mounting plate of the wing frame 6; when the bottom surface of the wing frame 6 is rotated to be close to one side of the cargo hold 8, the two take-off and landing hovering rotatable locking nails 8-2 or the two horizontal flight rotatable locking nails 8-3 on the side pass between the two mounting plates of the wing frame 6, one segment of each of the two take-off and landing hovering rotatable locking nails 8-2 or the two horizontal flight rotatable locking nails 8-3 is close to the inner side of the corresponding one of the mounting plates, and the other segment is rotated from a parallel state to a perpendicular state to the mounting plate and is buckled to the top surface of the mounting plate, so that the wing frame 6 and the cargo hold 8 are close to each other.

[0038] The wing frame 6 is rotatable relative to the cargo hold shaft, and the wing frame 6 is fixed by an inner limiting pin and the rotatable locking nails 8-2 and 8-3 on the front and rear sides of the cargo hold 8. The unmanned aerial vehicle is fixed to the rotated wing frame 6 by an inner limiting pin and the rotatable locking nails 8-2 and 8-3 on the front and rear sides of the cargo hold shaft. The disc 8-1 is provided with two limiting holes which are distributed at an angle of 90 degrees, when the wing frame 6 is rotated to be at an angle of 45 degrees with the ground, that is, the unmanned aerial vehicle is in a vertical take-off and landing or hovering state, or the wing frame 6 is rotated to be at an angle of 135 degrees with the ground, that is, the unmanned aerial vehicle is in a horizontal flight state, the unmanned aerial vehicle receives a signal, controls the limiting pin to automatically pop into the corresponding limiting hole to be locked, and controls the corresponding rotatable locking nail on the front side or the rear side to be rotated by 90 degrees to press the wing frame 6 to be fixed, so that the vertical or horizontal state of the rotor 4, the main wing 1 and the ailerons 2 and 3 is maintained.

[0039] Each disc 8-1 is provided with two limiting holes which are distributed at an angle of 90 degrees and one limiting pin, and the cargo hold shaft of the cargo hold 8 is limited in the two limiting holes opposite to each other of the two discs 8-1 by the limiting pin.

[0040] When the flight mode of the unmanned aerial vehicle needs to be changed, the limiting pin is opened, the wing frame 6 is rotated to be in a vertical or horizontal state of the rotor 4, and the limiting pin is automatically popped into the wing frame 6 to fix the wing frame 6. There are two rotatable locking nails on the front and rear sides of the cargo hold 8, the wing frame 6 is rotated to be in a vertical or horizontal state of the rotor 4, the rotatable locking nail is rotated by 90 degrees, the wing frame 6 is pressed to be fixed, and the vertical or horizontal state of the rotor 4, the main wing 1 and the ailerons 2 and 3 is maintained.

[0041] The control method of the tilt-rotor unmanned aerial vehicle comprises the following steps.

[0042] As shown in Figure 2 and Figure 3 , when the tilt-rotor unmanned aerial vehicle is in vertical take-off and landing or hovering mode, the bottom surface of the cargo compartment 8 is parallel to the ground, the wing bracket 6 is at an angle of 45 degrees with the ground, the rear aileron 2 is located below the main wing 1 and the front aileron 3, the two take-off and hovering rotatable locking nails 8-2 are buckled to the top surface of the mounting plate, so that one side surface of the cargo compartment 8 is close to the bottom surface of the two take-off and hovering rotatable locking nails 8-2 near the wing bracket 6, and the cargo compartment shaft of the cargo compartment 8 is limited by the limiting pin in the two limiting holes opposite the two discs 8-1; the surfaces of each main wing 1, rear aileron 2 and front aileron 3 of the unmanned aerial vehicle wing are in vertical state, and the rotating surface of each rotor 4 is in horizontal state, the hydraulic system of the unmanned aerial vehicle controls the rotation of each rotor 4 at the same speed and provides all upward lift to make the tilt-rotor unmanned aerial vehicle vertically take off and land or hover.

[0043] As shown in Figure 4 and Figure 5 , when the tilt-rotor unmanned aerial vehicle is converted from vertical take-off and landing or hovering mode to flat flight mode, the bottom surface of the cargo compartment 8 is always parallel to the ground, one segment of the two take-off and hovering rotatable locking nails 8-2 is rotated to make the other segment parallel to the side surface of the mounting plate, at this time the other segment of the two flat flight rotatable locking nails 8-3 is parallel to the side surface of the mounting plate, the limiting pin of the cargo compartment 8 is opened, the hydraulic system of the unmanned aerial vehicle controls the rotation of each rotor 4 to make the rotation speed of the rear rotor 4-1 greater than that of the front rotor 4-3, the wing bracket 6 rotates around the cargo compartment shaft to an angle of 135 degrees with the ground, the front aileron 3 moves to be located below the main wing 1 and the rear aileron 2, one segment of the two flat flight rotatable locking nails 8-3 is rotated to make the other segment perpendicular to the side surface of the mounting plate and buckled to the top surface of the mounting plate, so that the other side surface of the cargo compartment 8 is close to the bottom surface of the two flat flight rotatable locking nails 8-3 near the wing bracket 6, and the cargo compartment shaft of the cargo compartment 8 is limited by the limiting pin in the other two limiting holes opposite the two discs 8-1; the surfaces of each main wing 1, rear aileron 2 and front aileron 3 of the unmanned aerial vehicle wing are in horizontal state to provide all lift, and the rotating surface of each rotor 4 is in vertical state, the hydraulic system of the unmanned aerial vehicle controls the rotation of each rotor 4 at the same speed to provide all forward power to make the tilt-rotor unmanned aerial vehicle fly flat.

[0044] The rotation of the wing bracket 6 is controlled by the variable pump differential adjustment method, that is, the variable pump driven by the fuel engine supplies different amounts of oil to the rotors 4 at both ends of the wing bracket 6, the differential adjustment is made by the variable pump driven rotor hydraulic system, there is a differential between the two rotors 4 to form a moment, which drives the whole wing bracket 6 to rotate, so that the rotors 4, main and auxiliary wings 1, 2 and 3 switch between vertical and horizontal states, and the conversion between vertical take-off, hovering and rapid flat flight modes is realized.

[0045] When the fast level flight mode is converted to the take-off or hovering mode, the variable pump supplies more oil to the front rotor 4-3 than to the rear rotor 4-1, the front rotor 4-3 rotates faster than the rear rotor 4-1, and the wing holder 6 rotates to an angle of 45 degrees with the ground.

[0046] When the UAV is in the process of motion mode conversion, the control system gives instructions to control the variable pump to supply oil to the rotors 4, so that the UAV gradually changes the motion state and gradually increases the rotation speed of all rotors 4, to ensure that the UAV has enough lift and ensures that there is enough speed in the level flight mode to make the ailerons 1, 2, 3 provide all the lift. At the same time, the left and right wing holders 6 of the UAV are fixed by the wing connecting rod 7, to ensure the stability of the wing holder 6 during differential rotation of the motion mode conversion.

[0047] The ailerons 1, 2, 3 of the UAV need to be designed in detail to meet the lift requirements of the UAV in the maximum load state during fast level flight. The blade airfoil and diameter of the rotors 4 need to be designed in detail to meet the vertical take-off, hovering lift requirements and level flight speed requirements of the UAV. The performance index requirements of the UAV during fast level flight, such as load requirements, endurance, level flight speed, etc., are determined first, the detailed parameters of the ailerons 1, 2, 3 of the UAV are determined, i.e. the preliminary size and position parameters of the ailerons 1, 2, 3 are determined to meet the lift requirements during level flight; then the detailed parameters of the fuel engine, variable pump and six rotors 4 of the UAV are determined according to the load requirements and motion mode conversion power requirements, and finally the preliminary structural design scheme, control design scheme, electrical design scheme and power design scheme are given according to the comprehensive performance index requirements of the UAV during vertical take-off, motion mode conversion and fast level flight, and the flight performance and flight quality of the UAV are evaluated to check whether the load and endurance meet the standards, and a reasonable overall design scheme is given.

[0048] The overall design scheme specifically includes:

[0049] First, based on the weight of the UAV and the load requirements, the size, power demand and lift-drag ratio of the UAV are determined based on conventional fixed-wing UAVs, the preliminary size and position parameters of the ailerons 1, 2, 3 and rotors 4 of the UAV are determined, and the size of the rotor protection cover 5 is determined; then the size, position and rotation speed difference of the six rotors 4 that can cause the wing holder 6 to rotate are determined according to the vertical take-off, flight mode conversion requirements, level flight speed and distance requirements of the UAV, and the driving mode is selected. Finally, the structural, electrical and control design schemes of the UAV are determined according to the overall performance index of the UAV during take-off, flight mode conversion and level flight, and the flight performance of the UAV is evaluated to determine the overall design scheme.

[0050] The technical solutions of the present application are not limited to the above specific embodiments, and any technical variations made according to the technical solutions of the present application fall within the protection scope of the present application.

Claims

1. A heavy load long endurance tilt-rotor unmanned aerial vehicle, characterized in that: it comprises a wing support frame (6) for supporting and tilting; it comprises unmanned wings installed on both sides of the wing support frame (6) symmetrically; it comprises a cargo compartment (8) installed on the lower part of the wing support frame (6) and used for loading goods; it comprises an unmanned hydraulic system installed on the cargo compartment (8) and used for controlling the unmanned wings; the wing support frame (6) comprises two installation plates arranged in parallel and opposite on both sides and three wing connecting rods (7) connected between the two installation plates; the unmanned wings comprise two side wings, each of which is symmetrically installed on the two side surfaces of the wing support frame (6) away from the center of the wing support frame (6), each side wing comprises a main wing (1), a rear aileron (2), a front aileron (3) and three rotors (4); the end of the front aileron (3), the main wing (1) and the rear aileron (2) is provided with a rotor (4), the rotor (4) installed on the front aileron (3) comprises a front rotor (4-3) and a first rotor protection cover (5), the rotor (4) installed on the main wing (1) comprises a middle rotor (4-2) and a second rotor protection cover (5), and the rotor (4) installed on the front aileron (3) comprises a rear rotor (4-1) and a third rotor protection cover (5); the cargo compartment (8) is in the shape of an isosceles right triangle, two ends of the top corner side of the cargo compartment (8) are respectively provided with a disc (8-1), a cargo compartment shaft is arranged in the two discs (8-1); the top corner side of the cargo compartment (8) is hingedly connected between the bottom edges of the two installation plates of the wing support frame (6) and opposite to the middle one of the three wing connecting rods (7) through the cargo compartment shaft; two L-shaped take-off and landing hovering rotatable locking nails (8-2) are symmetrically arranged on one side surface of the cargo compartment (8) close to the rear rotor (4-1) of the unmanned wing, one segment of each take-off and landing hovering rotatable locking nail (8-2) is perpendicularly hinged on the side surface of the cargo compartment (8), and the other segment is parallel or perpendicular to the side plate surface of the installation plate of the wing support frame (6); two L-shaped level flight rotatable locking nails (8-3) are symmetrically arranged on the other side surface of the cargo compartment (8) close to the front rotor (4-3) of the unmanned wing, one segment of each level flight rotatable locking nail (8-3) is perpendicularly hinged on the other side surface of the cargo compartment (8), and the other segment is parallel or perpendicular to the side plate surface of the installation plate of the wing support frame (6); when the bottom surface of the wing support frame (6) is rotated to be close to a side surface of the cargo compartment (8), the two take-off and landing hovering rotatable locking nails (8-2) or the two level flight rotatable locking nails (8-3) on the side surface pass between the two installation plates of the wing support frame (6), one segment of each of the two take-off and landing hovering rotatable locking nails (8-2) or the two level flight rotatable locking nails (8-3) is close to the inner side surface of the installation plate close to the respective installation plate, and the other segment is rotated from the state of being parallel to the installation plate to the state of being perpendicular to the installation plate and latches the top surface of the installation plate, so that the wing support frame (6) and the cargo compartment (8) are close to each other. The wing support frame (6) is in the shape of a ladder, the three wing connecting rods (7) are uniformly and evenly spaced and arranged in parallel along the length direction of the wing support frame and are perpendicular to the two installation plates; the unmanned wings are symmetrically installed on the two side surfaces of the two installation plates away from the center of the wing support frame (6); and the cargo compartment (8) is hingedly connected between the bottom of the two installation plates. ​ ​ ​ ​ ​ ​ 2. The heavy-load long-endurance tilt-rotor unmanned aerial vehicle according to claim 1, characterized in that: ​ 3. The heavy-load long-endurance tilt-rotor unmanned aerial vehicle according to claim 2, characterized in that: The front aileron (3), the main wing (1) and the rear aileron (2) are arranged in sequence along the length direction of the wing frame, are evenly spaced, are parallel to each other and are perpendicular to the two mounting plates, the root ends of the two front ailerons (3), the root ends of the two main wings (1) and the root ends of the two rear ailerons (2) are connected by a wing connecting rod (7) respectively, each rotor protective cover (5) is concentrically sleeved outside the front rotor (4-3), the middle rotor (4-2) and the rear rotor (4-1) respectively and is installed at the end of the front aileron (3), the main wing (1) and the rear aileron (2) respectively, the rear rotor (4-1), the middle rotor (4-2) and the front rotor (4-3) are communicated to the unmanned aerial vehicle hydraulic system.

4. The heavy-load long-endurance tilt-rotor unmanned aerial vehicle according to claim 3, characterized in that: The mounting plate of the wing frame (6) is directed from the rear aileron (2) to the front aileron (3), the length direction of the plate surface is at an angle of 45 degrees with the width direction of the plate surface of the main wing (1) of the unmanned aerial wing directed from the bottom surface of the wing frame (6) to the top surface, and the rotation surface of each rotor (4) is perpendicular to the plate surface of the main wing (1).

5. The heavy-load long-endurance tilt-rotor unmanned aerial vehicle according to claim 3, characterized in that: The size of the rear aileron (2) and the front aileron (3) is the same, and the length of the main wing (1) is greater than the length of the rear aileron (2) and the front aileron (3). 6.The heavy-load long-endurance tilt-rotor UAV of claim 1, wherein: Each disc (8-1) is provided with two limiting holes distributed at 90 degrees and a limiting pin, and the cargo compartment shaft of the cargo compartment (8) is limited in two limiting holes opposite to each other in the two discs (8-1).

7. The control method of the tilt-rotor drone according to any one of claims 1-6, characterized in that, The tilt-rotor unmanned aerial vehicle comprises: When the tilt-rotor unmanned aerial vehicle is in the vertical take-off and landing or hovering mode, the bottom surface of the cargo compartment (8) is parallel to the ground, the wing frame (6) is at an angle of 45 degrees with the ground, the rear aileron (2) is located below the main wing (1) and the front aileron (3), the two take-off and landing hovering rotatable locking nails (8-2) are buckled to the top surface of the mounting plate, so that one side surface of the cargo compartment (8) is close to the bottom surface of the wing frame (6) near the two take-off and landing hovering rotatable locking nails (8-2), the cargo compartment shaft of the cargo compartment (8) is limited by the limiting pin in two limiting holes opposite to each other in the two discs (8-1), the plate surfaces of each main wing (1), rear aileron (2) and front aileron (3) of the unmanned aerial wing are in a vertical state, the rotation surface of each rotor (4) is in a horizontal state, the unmanned aerial vehicle hydraulic system controls the rotation of each rotor (4) to be the same and provides all upward lift, so that the tilt-rotor unmanned aerial vehicle is vertically taken off and landed or hovered. When the tilt-rotor unmanned aerial vehicle converts from the vertical take-off or hovering mode to the horizontal flight mode, the bottom surface of the cargo compartment (8) is always parallel to the ground, one segment of the two take-off and hovering rotatable locking nails (8-2) is rotated to make the other segment parallel to the side plate surface of the mounting plate, at this time the other segment of the two horizontal flight rotatable locking nails (8-3) is parallel to the side plate surface of the mounting plate, the limiting pin of the cargo compartment (8) is opened, the hydraulic system of the unmanned aerial vehicle controls the rotation of each rotor (4) to make the rotation speed of the rear rotor (4-1) greater than that of the front rotor (4-3), the wing bracket (6) rotates around the cargo compartment shaft to an angle of 135 degrees with the ground, the front aileron (3) moves to be below the main wing (1) and the rear aileron (2), one segment of the two horizontal flight rotatable locking nails (8-3) is rotated to make the other segment perpendicular to the side plate surface of the mounting plate and buckle the top surface of the mounting plate, so that the other side surface of the cargo compartment (8) is close to the wing bracket (6) near the bottom surface of the two horizontal flight rotatable locking nails (8-3), the cargo compartment shaft of the cargo compartment (8) is limited in the other two limiting holes opposite to the two discs (8-1); the plate surface of each main wing (1), rear aileron (2) and front aileron (3) of the unmanned aerial vehicle wing is in a horizontal state, the rotation surface of each rotor (4) is in a vertical state, the hydraulic system of the unmanned aerial vehicle controls each rotor (4) to rotate at the same speed to provide all forward power, so that the tilt-rotor unmanned aerial vehicle flies horizontally.

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