Unmanned aerial vehicle capable of vertically taking off and landing and full-wing tilting structure thereof

Abstract

The invention provides a vertical take-off and landing unmanned aerial vehicle and a full-wing tilting structure thereof.The full-wing tilting structure is applied to a four-rotor tilting unmanned aerial vehicle and comprises a fuselage sliding rail, a sliding block, a connecting rod and a movable wing, the fuselage sliding rail is of a rail structure and is arranged on the upper side of a fuselage from the root of an empennage of the unmanned aerial vehicle to the middle of the unmanned aerial vehicle, and the sliding block is arranged on the fuselage sliding rail; the sliding block is arranged on the machine body sliding rail and slides on the machine body sliding rail; wings on the two sides of the unmanned aerial vehicle are each provided with a connecting rod, one end of each connecting rod is fixedly connected with the position where an inner side motor on a movable wing of the unmanned aerial vehicle is located, and the other end of each connecting rod is connected with a sliding block; movable wings are arranged on the side surfaces of the front end of the unmanned plane body; the wing fixed end is a trapezoidal mechanism and is fixedly arranged on the side face of the front end of the unmanned aerial vehicle body, and the wing movable end and the wing fixed end are connected through a rotating hinge; and the sliding block on the fuselage sliding rail drives the movable wing connected with the connecting rod to rotate around the hinge at the wing root.

Description

Technical Field

[0001] The present application relates to the field of UAVs, and in particular to a UAV capable of vertical take-off and landing and a full-wing tilting structure thereof. Background Art

[0002] In order to enable fixed-wing UAVs to achieve vertical take-off and landing, the conventional method is to directly install several vertical take-off and landing motors. However, this design will cause some motors to be unable to provide thrust during forward flight and become dead weight.

[0003] Since its inception, drones have had the ability to quickly iterate, which traditional aircraft and large weapon systems do not have. The application scenarios they have evolved have been continuously expanded, gradually expanding from military-only to civilian fields. With the rapid development of artificial intelligence, semiconductors, sensors, etc., drone systems have rapidly iterated their technologies, continuously expanding their capabilities and application areas. In 2014, consumer drones experienced explosive growth, forming a dual-use pattern for drones.

[0004] There are two main types of conventional drones: one is an unmanned helicopter or multi-rotor drone that provides lift through one or more rotors, and the other is a fixed-wing drone that generates lift through wings. The characteristics of unmanned helicopters or multi-rotor drones are that they do not require an open area for takeoff and landing, but generally speaking, they have a shorter battery life, a lower flight altitude, and a slower flight speed; the characteristics of fixed-wing drones are that they have a longer battery life, a higher flight altitude, and a faster flight speed, but the slightly larger conventional fixed-wing drones require an open area or other ejection devices to assist in taxiing and takeoff, and landing also requires an open area or other devices to assist.

[0005] In order to enable fixed-wing drones to have the function of vertical take-off and landing, the current common method is to directly install several vertical take-off and landing motors on the wings and equip them with rotors, so that they are similar to multi-rotor drones during the take-off and landing phase. The several vertical take-off and landing motors installed drive the rotors to generate lift to achieve the vertical take-off and landing function. During the normal flight phase, the vertical take-off and landing motors are turned off, and the main engine is used to provide power, which is converted to using the fixed wing to generate lift flight. However, this design will cause some motors to be unable to provide thrust during fixed-wing flight and become the dead weight of the drone, reducing the flight performance of the drone. And because the wing shape of the fixed-wing drone is not suitable for the airflow during vertical take-off and landing, the stability and controllability are poor during vertical take-off and landing. Summary of the invention

[0006] The present application provides a vertical take-off and landing UAV and a full-wing tilting structure thereof, which can minimize wind resistance during vertical take-off and landing and improve maneuverability during vertical take-off and landing.

[0007] In a first aspect, the present application provides a full-wing tilting structure of a vertical take-off and landing UAV, wherein the full-wing tilting structure is applied to a quad-rotor tilting UAV, including a fuselage slide rail 1, a slider 2, a connecting rod 3 and a movable wing 4, wherein:

[0008] The fuselage slide rail 1 is a track structure, which is arranged on the upper side of the fuselage from the root of the tail wing of the UAV to the middle of the UAV. The slider 2 is arranged on the fuselage slide rail 1 and slides on the fuselage slide rail 1; a connecting rod 3 is respectively arranged on the wings on both sides of the UAV, one end of the connecting rod 3 is fixedly connected to the position where the inner motor is located on the movable wing 4 of the UAV, and the other end of the connecting rod 3 is connected to the slider 2; movable wings 4 are respectively arranged on the side faces of the front end of the UAV fuselage, and the movable wings 4 include a wing fixed end 41, a wing movable end 42 and a rotating hinge 43; the wing fixed end 41 is a trapezoidal mechanism, the wing fixed end 41 is fixedly arranged on the side faces of the front end of the UAV fuselage, and the wing movable end 42 and the wing fixed end 41 are connected by a rotating hinge 43; the slider 2 on the fuselage slide rail 1 drives the movable wing 4 connected to the connecting rod 3 to rotate around the hinge at the wing root to achieve the effect of tilting the wing.

[0009] Specifically, the fixed end 41 of the wing is a section of a trapezoidal wing, and its cross-section is a wing lift airfoil, which provides partial lift during forward flight; the fixed end 41 of the wing is integrated with the front end structure of the fuselage, and is connected to the movable end 42 of the wing by a rotating hinge 43, providing support for the rotation of the movable end 42 of the wing.

[0010] Specifically, the wing movable end 42 is a wing with a 45-degree cut angle, on which two motors are arranged, and connected to the wing fixed end 41 through a rotating hinge 43. When the wing movable end 42 rotates, it will drive the motor to rotate, thereby changing the direction of the propeller lift brought by the motor.

[0011] Specifically, the rotating hinge 43 includes a hinge shaft on the wing movable end 42 and a hinge swivel on the wing fixed end 41, so that the wing movable end 42 rotates around the hinge direction and provides sufficient structural strength support.

[0012] Specifically, the direction of the hinge on the wing is 45 degrees to the heading and 45 degrees upward to the horizontal plane of the wing.

[0013] Specifically, one end of the connecting rod 3 is connected to the wing movable end 42 , and the other end of the connecting rod 3 is connected to the slider 2 . The movement of the slider 2 drives the wing movable end 42 to rotate around the rotating hinge 43 through the connecting rod 3 .

[0014] Specifically, the length of the connecting rod is half the length of the wing movable end 42 .

[0015] Specifically, the length of the fuselage slide rail 1 is not less than the length of the connecting rod 3, ensuring that the slider 2 can move freely on it; the fuselage slide rail 1 is integrated with the fuselage structure, using a more wear-resistant metal material, and is slightly narrower than the front end of the fuselage; the fuselage slide rail 1 serves as both a moving guide rail for the slider 2 and a part of the fuselage structure to provide support for the installation of the tail wing.

[0016] In a second aspect, the present application provides a vertical take-off and landing UAV, which is implemented using the full-wing tilt-rotating structure as described above.

[0017] In order to realize the vertical take-off and landing of fixed-wing UAVs, a technical solution of full-wing tilting was proposed, which was inspired by the body structure of birds with folded wings. By simulating the joints at the roots of bird wings, a rotating hinge with a special direction is added to the root of the main wing of traditional fixed-wing UAVs. This allows the UAV to fully unfold its wings and use the flight mode of traditional fixed-wing UAVs to use the motors on the wings to provide pulling force to drive the entire machine forward, and then use the airfoil of the wing to generate lift. The wings can also be retracted to both sides of the fuselage, and the pulling direction of the motors on the wings is changed to upward, thereby generating upward lift to achieve vertical take-off and landing of the UAV. The rotating hinge at the root of the main wing bears the gravity, lift, and other aerodynamic forces close to the entire drone, and at the same time, it must stably and reliably complete the tilting of the wing. Therefore, the working condition of the rotating hinge is poor and is subject to large external forces. Therefore, a pull rod is designed to connect to the middle of the tilting wing, and the other end of the pull rod is connected to the slider on the fuselage. The movement of the slider is limited in the guide rail on the tail of the fuselage. The pull rod is driven by the displacement of the slider, and the pull rod is connected to the wing to drive the wing to rotate around the rotating hinge at the root. Since a force point is added in the middle of the wing, the situation of the rotating hinge at the root of the wing can be greatly improved.

[0018] In summary, the present application provides a full-wing tilting structure for a vertical take-off and landing UAV, which utilizes a bionic tilting mechanism to minimize wind resistance during vertical take-off and landing and improve maneuverability during vertical take-off and landing. The four-rotor can participate in the thrust output during vertical take-off and landing and forward flight in fixed-wing mode, reducing motor power waste. The four-rotor can improve the control and stability during vertical take-off and landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the direction of the rotating hinge of the full-wing tilting structure of a vertical take-off and landing UAV provided in this application;

[0020] Figure 2 A schematic diagram of a fixed wing model provided for this application;

[0021] Figure 3 A schematic diagram of a transition mode provided for this application;

[0022] Figure 4 A schematic diagram of a vertical take-off and landing mode provided for this application; Figure 5 A schematic diagram of the wing connection structure of a vertical take-off and landing UAV provided in this application.

[0023] Among them, 1-fuselage slide rail, 2-slider, 3-connecting rod, 4-movable wing. DETAILED DESCRIPTION

[0024] The present application imitates the movement of birds when folding their wings, tilts the motors on the entire wing, and then changes the thrust direction. The motors on the wings can provide thrust during high-speed forward flight and vertical take-off and landing, and in the vertical take-off and landing state, the wings are retracted on both sides of the fuselage, which has stronger wind resistance and higher flexibility.

[0025] Embodiment 1

[0026] like Figure 1 As shown, the present application provides a full-wing tilting structure of a vertical take-off and landing UAV, the full-wing tilting structure is applied to a quad-rotor tilting UAV, including a fuselage slide rail 1, a slider 2, a connecting rod 3 and a movable wing 4, wherein:

[0027] The fuselage slide rail 1 is a track structure, which is arranged on the upper side of the fuselage from the root of the tail wing of the UAV to the middle of the UAV. The slider 2 is arranged on the fuselage slide rail 1 and can slide on the fuselage slide rail 1; a connecting rod 3 is respectively arranged on the wings on both sides of the UAV, one end of the connecting rod 3 is fixedly connected to the position of the inner motor on the movable wing 4 of the UAV, and the other end of the connecting rod 3 is connected to the slider 2; movable wings 4 are respectively arranged on the side faces of the front end of the UAV fuselage, and the movable wings 4 include a wing fixed end 41, a wing movable end 42 and a rotating hinge 43; the wing fixed end 41 is a trapezoidal mechanism, the wing fixed end 41 is fixedly arranged on the side faces of the front end of the UAV fuselage, and the wing movable end 42 and the wing fixed end 41 are connected by a rotating hinge 43; the slider 2 on the fuselage slide rail 1 drives the movable wing 4 connected to the connecting rod 3 to rotate around the hinge at the wing root, so as to achieve the effect of tilting the wing.

[0028] Among them, two motors are installed on both sides of the wings of the quad-rotor tilt-rotor drone.

[0029] Specifically, the direction of the hinge on the wing is 45 degrees to the heading and 45 degrees upward to the horizontal plane of the wing, such as Figure 1 shown.

[0030] Specifically, the wing fixed end 41 is a section of a trapezoidal wing, and its cross section is a wing lift airfoil, which provides partial lift during forward flight. The wing fixed end 41 is integrated with the front end structure of the fuselage, and is connected to the wing movable end 42 through a rotating hinge 43, providing support for the wing movable end 42 when rotating. Figure 5 shown.

[0031] Specifically, the wing movable end 42 is a wing with a 45-degree cut angle, on which two motors are arranged, and connected to the wing fixed end 41 through a rotating hinge 43. When the wing movable end 42 rotates, it will drive the motor to rotate, thereby changing the direction of the propeller lift brought by the motor.

[0032] Specifically, the rotating hinge 43 is composed of a hinge shaft on the wing movable end 42 and a hinge swivel on the wing fixed end 41, which enables the wing movable end 42 to rotate around the hinge direction and provides sufficient structural strength support.

[0033] Specifically, one end of the connecting rod 3 is connected to the wing movable end 42, and the other end is connected to the slider 2. The movement of the slider 2 drives the wing movable end 42 to rotate around the rotating hinge 43 through the connecting rod 3. The length of the connecting rod is half the length of the wing movable end 42.

[0034] Specifically, the length of the fuselage slide rail 1 is not less than the length of the connecting rod 3, ensuring that the slider 2 can move freely on it. The fuselage slide rail 1 is integrated with the fuselage structure, made of a more wear-resistant metal material, and slightly narrower than the front end of the fuselage. The fuselage slide rail 1 serves as both a moving guide rail for the slider 2 and a part of the fuselage structure to provide support for the installation of the tail.

[0035] Embodiment 2

[0036] The present application provides a full-wing tilting structure for a vertical take-off and landing UAV, which includes three working modes: fixed-wing mode, transition mode and vertical take-off and landing mode.

[0037] As shown in Figure 2, in the fixed-wing mode, the motor is directed horizontally forward, which can provide horizontal forward thrust for the drone; at this time, the slider 2 is at the front limit position, and the wing movable end 42 is approximately perpendicular to the heading of the fuselage. At this time, the drone has the longest wingspan, and the wing movable end 42 is connected to the wing fixed end 41 through a rotating hinge 43, and the rotation angle is recorded as 0 degrees.

[0038] like Figure 3 As shown, in transition mode,

[0039] At this time, the slider 2 moves backward to the middle section of the slide rail, and the slider 2 drives the wing movable end 42 to rotate toward the rear of the fuselage through the connecting rod 3. The angle between the wing movable end 42 and the fuselage heading is about 135 degrees. At this time, the wing tip of the wing movable end 42 points to the oblique rear of the fuselage. The motor on the wing movable end 42 drives the rotor to rotate to provide forward and upward components. The wing movable end 42 is connected to the wing fixed end 41 through a rotating hinge 43, and the rotation angle is about 60 degrees.

[0040] like Figure 4As shown in the figure, in the vertical take-off and landing mode, the direction of the motor is approximately vertically upward, which can provide upward thrust for the drone. The full-wing tilting structure uses a slide rail and a pull rod structure to rotate the direction of the motor on the wing from horizontal forward to vertical upward.

[0041] At this time, the slider 2 moves backward to the rear limit position of the slide rail, and the slider 2 drives the wing movable end 42 to continue to rotate toward the rear of the fuselage through the connecting rod 3. The wing movable end 42 is approximately parallel to the heading of the fuselage. At this time, the wing tip of the wing movable end 42 points to the rear of the fuselage. The motor on the wing movable end 42 drives the rotor to rotate to provide upward lift. The wing movable end 42 is connected to the wing fixed end 41 through a rotating hinge 43, and the rotation angle is about 110 degrees.

[0042] Key point 1: By adding a rotating hinge at the root of the wing, the wing can be tilted to change the thrust direction of the motor on the wing.

[0043] Key point 2: By driving the connecting rod to pull the wing to tilt through the slider on the fuselage slide rail, the stability of the wing can be increased and the strength of the tilt mechanism can be improved.

[0044] Key point 3: All four motors can provide power in both vertical take-off and landing and fixed-wing modes, which can reduce the additional weight.

[0045] In summary, the present application provides a full-wing tilting structure for a vertical take-off and landing UAV, and the technical effects include:

[0046] 1: The bionic tilting mechanism can minimize wind resistance during vertical take-off and landing and improve maneuverability during vertical take-off and landing.

[0047] 2: The quadrotor can participate in vertical take-off and landing and thrust output during forward flight in fixed-wing mode, reducing motor power waste.

[0048] 3: The quadrotor can improve the control and stability during vertical take-off and landing.

Claims

1. A full-wing tilting structure for a vertical take-off and landing UAV, It is characterized in that The full-wing tilting structure is applied to a quad-rotor tilting UAV, comprising a fuselage slide rail (1), a slider (2), a connecting rod (3) and a movable wing (4), wherein: The fuselage slide rail (1) is a track structure, which is arranged on the upper side of the fuselage from the tail root of the unmanned aerial vehicle to the middle of the unmanned aerial vehicle. The slider (2) is arranged on the fuselage slide rail (1) and slides on the fuselage slide rail (1); a connecting rod (3) is respectively arranged on the wings on both sides of the unmanned aerial vehicle, one end of the connecting rod (3) is fixedly connected to the position where the inner motor is located on the movable wing (4) of the unmanned aerial vehicle, and the other end of the connecting rod (3) is connected to the slider (2); the movable wing (4) is respectively arranged on the side of the front end of the unmanned aerial vehicle fuselage, and the movable wing (4) comprises a wing fixed end (41), a wing movable end (42) and a rotating hinge (43); the wing fixed end (41) is a trapezoidal structure, the wing fixed end (41) is fixedly arranged on the side of the front end of the unmanned aerial vehicle fuselage, and the wing movable end (42) and the wing fixed end (41) are connected by a rotating hinge (43); the slider (2) on the fuselage slide rail (1) drives the movable wing (4) connected to the connecting rod (3) to rotate around the hinge at the wing root, so as to achieve the effect of tilting the wing.

2. The full-wing tilting structure according to claim 1, It is characterized in that The fixed end (41) of the wing is a section of a trapezoidal wing, and its cross section is a wing lift airfoil, which provides partial lift during forward flight; the fixed end (41) of the wing is integrated with the front end structure of the fuselage, and is connected to the movable end (42) of the wing via a rotating hinge (43), so as to provide support for the movable end (42) of the wing when it rotates.

3. The full-wing tilting structure according to claim 1, It is characterized in that The wing movable end (42) is a section of wing with a 45-degree cut angle, on which two motors are arranged and connected to the wing fixed end (41) through a rotating hinge (43). When the wing movable end (42) rotates, it drives the motor to rotate, thereby changing the lift direction of the propeller brought by the motor.

4. The full-wing tilting structure according to claim 1, It is characterized in that The rotating hinge (43) comprises a hinge shaft on the wing movable end (42) and a hinge swivel on the wing fixed end (41), so that the wing movable end (42) can rotate around the hinge direction and provide sufficient structural strength support.

5. The full-wing tilting structure according to claim 1, It is characterized in that The hinges on the wings are oriented 45 degrees to the heading and 45 degrees upward from the horizontal plane of the wing.

6. The full-wing tilting structure according to claim 1, It is characterized in that One end of the connecting rod (3) is connected to the wing movable end (42), and the other end of the connecting rod (3) is connected to the slider (2). The movement of the slider (2) drives the wing movable end (42) to rotate around the rotating hinge (43) through the connecting rod (3).

7. The full-wing tilting structure according to claim 1, It is characterized in that The length of the connecting rod is half the length of the wing movable end (42).

8. The full-wing tilting structure according to claim 1, It is characterized in that The length of the fuselage slide rail (1) is not less than the length of the connecting rod (3), ensuring that the slider (2) can move freely on it; the fuselage slide rail (1) is integrated with the fuselage structure, using a relatively wear-resistant metal material, and is slightly narrower than the front end of the fuselage; the fuselage slide rail (1) serves as both a moving guide rail for the slider (2) and a part of the fuselage structure to provide support for the installation of the tail wing.

9. A drone that can take off and land vertically. It is characterized in that The vertical take-off and landing UAV is realized by using the full-wing tilting structure as described in any one of claims 1 to 8.

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