Composite propulsion tiltable main shaft type rotor craft

Abstract

The invention relates to the technical field of aviation, in particular to a composite propulsion tiltable spindle type rotor aircraft which is of a flying wing type structure and comprises a wing body fusion structure, four rotors and an empennage, the rotors are distributed on the front portion and the rear portion of an aircraft body and on the two sides of the wing body fusion structure, and the empennage and the wing body fusion structure are connected through a double-tail-beam type. Vertical take-off and landing of the whole aircraft are achieved through the four rotors, stable forward flight is achieved through tilting of the rotor main shafts on the two sides of the wing body fusion structure, and the aircraft has the forward flight speed, stability and structural strength of a fixed-wing aircraft while having efficient take-off and landing performance; therefore, compared with a common four-rotor aircraft, the four-rotor aircraft has higher maneuverability, energy-saving performance and maneuverability.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and in particular to a composite propulsion tiltable main shaft rotor aircraft. Background Art

[0002] In order to adapt to the development trend of the future civil aircraft market, major international aircraft manufacturers and research institutions have carried out conceptual design research on future civil aircraft in 2030-2035. Rotor UAVs have unique maneuverability, compact structure layout, low cost and low energy consumption, and have become one of the research hotspots in the field of UAVs today. Whether it is vertical take-off and landing on ships, islands, mountainous areas, rugged roads, and densely populated locations, or the use of new lightweight materials and portable structure layout, the application field of quadcopter UAVs has been expanded.

[0003] However, due to the limitations of layout and structural design, the general quadcopter UAV usually adopts the method of changing the speed of the opposite rotor and using asymmetric lift to adjust the aircraft's flight attitude. In order to ensure the stability of the aircraft during flight, the attitude change process is usually slow, and the forward flight speed is low, and it cannot accelerate during forward flight. Therefore, it cannot be applied to flight missions that require quick response and cannot meet the growing market demand.

[0004] The patent announcement number is CN117262214B, which is an amphibious short take-off and landing ground effect vehicle, comprising: a fuselage, main wings are arranged on both sides of the fuselage, and the main wings are arranged at a preset angle with the fuselage; floats are arranged at both ends of the main wings, and winglets are arranged on the floats; flaps and ailerons are arranged in parallel on the main wings; a tail wing is arranged at the tail of the fuselage, and a tail wing control surface is arranged on the tail wing; there are two outer ducts, which are symmetrically arranged on the fuselage, and the main engine and main rotor are arranged in the outer duct; there are two air intake ducts, both of which are arranged in the fuselage, one end of the air intake duct is an air intake structure, and the other end is a jet structure, and an auxiliary engine is arranged on the air intake duct; a laser rangefinder is arranged at the bottom of the fuselage. The above device cannot adjust the forward speed in time during the forward flight process, and the power switching process is complicated. Therefore, it is urgent for those skilled in the art to solve the above technical problems. Summary of the invention

[0005] In view of this, the purpose of the present invention is to propose a composite propulsion tiltable spindle rotor aircraft to solve the problem that the existing quad-rotor UAV has a single flight mode, cannot flexibly change the flight attitude, cannot increase the forward flight speed, and cannot meet the needs of different application scenarios.

[0006] Including wing-body fusion structure, quadrotor and tail;

[0007] The wing-body fusion structure includes a straight wing, a fairing and a rotor duct, the straight wing and the fairing are connected by an internal beam, and the fairing is rigidly connected to the rotor duct;

[0008] The quadrotor comprises a fixed main shaft rotor and a tilting main shaft rotor; the main shaft fixed rotor is connected to the rotor duct by a fixed shaft, the tilting main shaft rotor is connected to the straight wing by a rotating shaft, the main shaft of the tilting main shaft rotor is driven by a motor to tilt, the fixed main shaft rotor has two rotor blades, and the installation directions of the two rotor blades are opposite; the tilting main shaft rotor has two rotor blades, and the installation directions of the two rotor blades are opposite;

[0009] The fixed spindle rotor and the tilting spindle rotor are respectively connected to the driving spindle of the motor, the front and rear rotor blades of the fixed spindle rotor rotate in opposite directions, and the left and right rotor blades of the tilting spindle rotor rotate in opposite directions;

[0010] The tail comprises a vertical tail and a horizontal tail.

[0011] By adopting the above technical solution, the motor drives the tilt-spindle rotor, which can flexibly adjust the flight attitude and achieve precise hovering and rapid turning. The front and rear rotors are installed in opposite directions to the left and right rotor blades, and their rotation directions are also opposite, which can offset each other's reverse torque, simplify the control system and reduce the weight of the aircraft.

[0012] Furthermore, the straight wing is also provided with ailerons, and the ailerons are installed at the tail of the straight wing on both sides; the ailerons include aileron 1 and aileron 2, and the installation directions of aileron 1 and aileron 2 are opposite.

[0013] By adopting the above technical solution, the aileron is the main control surface for controlling the roll of the aircraft. By changing the angle of the ailerons on both sides, different lift distributions can be generated, thereby achieving precise control of the aircraft's roll angle. The design of the aileron enables the pilot or the autopilot system to quickly adjust the aircraft's attitude, especially when flying at high speeds, which helps to improve the aircraft's maneuverability and controllability. The aileron can help delay airflow separation under specific flight conditions (such as low speed or high angle of attack), thereby reducing induced drag and improving overall aerodynamic efficiency. Properly designed ailerons can improve the stall behavior of the wing, making the stall process more gradual and predictable, and improving flight safety. Since aileron 1 and aileron 2 are installed in opposite directions, they will generate opposite torques when working, which helps to offset the anti-torque generated by the rotor. This simplifies the complexity of the flight control system and reduces the need for additional anti-torque devices.

[0014] Furthermore, the aileron is a wedge-shaped structure as a whole, including a mounting surface and a straightening surface, the mounting surface is connected to the motor, the straightening surface of aileron one and the straightening surface of aileron two are installed in opposite directions, and grooves are provided on the straight wing, the aileron and the tail wing.

[0015] By adopting the above technical solution, the ailerons with a wedge-shaped structure can help delay airflow separation under specific flight conditions, thereby reducing induced drag and improving lift-to-drag ratio. The wedge-shaped structure helps to improve the stall behavior of the wing, making the stall process more gradual and predictable, thereby improving flight safety. The wedge-shaped ailerons provide better roll control capabilities, especially in high-speed flight, and can achieve more precise attitude adjustments. Since the fairing surfaces of aileron 1 and aileron 2 are installed in opposite directions, they will generate opposite torques when working, which helps to offset the anti-torque generated by the rotor and simplify the complexity of the flight control system.

[0016] Furthermore, the fairing is a streamlined structure and is rigidly connected to the straight wing.

[0017] By adopting the above technical solutions, the streamlined fairing can guide the airflow more effectively, reduce air resistance, improve the aerodynamic efficiency of the aircraft, reduce energy consumption, and extend the flight time. The streamlined structure helps to reduce turbulence and airflow separation, allowing the airflow to pass through the aircraft surface more smoothly, further reducing resistance. The rigid connection between the fairing and the straight wing enhances the rigidity and stability of the overall structure, reduces stress concentration at the connection, thereby improving the reliability and life of the structure. The integrated design reduces the relative movement between components, reduces the risk of fatigue damage, and increases the overall strength of the structure.

[0018] Furthermore, the number of blades of the fixed main shaft rotor and the tilt main shaft rotor is set to 3, and the root installation angle is 10°-20°.

[0019] By adopting the above technical solutions, the three-blade design usually provides a better balance between lift and drag. Compared with the two-blade design, the three-blade design can produce a smoother lift distribution, reduce vibration and noise, and the appropriate root installation angle (10°-20°) helps to optimize the angle of attack distribution of the blades, so that the blades can maintain a high aerodynamic efficiency under different flight conditions. The three-blade design has higher structural rigidity than the two-blade design, reduces the bending and deformation of the blades, and improves the reliability of the overall structure. The three-blade design can better disperse the load and reduce the stress concentration on a single blade, thereby extending the service life of the blades. The three-blade design can better balance the centrifugal force generated during rotation, reduce vibration, improve the comfort of the aircraft, and reduce the mechanical stress on other components. By properly selecting the root installation angle, resonance at specific frequencies can be avoided, further reducing vibration and noise.

[0020] Furthermore, the left and right rotor main shafts in the tilt-spindle rotor are respectively connected to motors.

[0021] By adopting the above technical solution, each rotor main shaft is driven by an independent motor, and each rotor can individually control its rotation speed and inclination, providing higher flexibility, enabling the aircraft to perform more precise attitude adjustments in different flight modes. By independently controlling each rotor, more precise roll, pitch and yaw control can be achieved, improving the maneuverability and response speed of the aircraft. When one motor fails, the other motors can still continue to work to maintain the basic flight capability of the aircraft, thereby improving the overall reliability of the system and enhancing the safety of flight. The power output of each motor can be dynamically adjusted according to different flight states and mission requirements.

[0022] Furthermore, the motor is installed in the fairing, and a plurality of the motors are provided.

[0023] By adopting the above technical solution, installing the motor in the fairing can make the overall design of the aircraft more compact, reduce external protrusions, and thus reduce air resistance. The streamlined design of the fairing helps to optimize airflow, reduce turbulence and airflow separation, and improve the aerodynamic efficiency of the aircraft. The fairing provides physical protection for the motor, preventing dust, rain and other environmental factors from damaging the motor, thereby extending the service life of the motor.

[0024] Furthermore, the angle of attack of the wing-body fusion structure does not exceed 11°.

[0025] By adopting the above technical solution, when the angle of attack of the wing-body fusion structure, that is, the angle between the horizontal line where the wing-body fusion structure is located and the relative airflow does not exceed 11°, the frontal area and induced drag can be significantly reduced. This helps to improve the overall aerodynamic efficiency of the aircraft and reduce energy consumption. A smaller angle of attack (that is, the angle between the wing-body fusion structure and the airflow) helps to maintain a high lift-to-drag ratio, especially when flying forward at high speed, which can provide better aerodynamic performance. A smaller angle of attack can delay the separation of the airflow on the wing surface, thereby increasing lift and reducing turbulence. This helps to improve the stability of the aircraft, especially when flying at high speeds. A smaller angle of attack can avoid entering a stall state too early, allowing the aircraft to maintain good controllability over a wide range of speeds and altitudes.

[0026] The beneficial effects of the present invention are as follows:

[0027] 1. The present invention adopts a wing-body fusion structure layout, which can greatly improve the structural strength, reduce the vibration amplitude of the fixed wing tip, reduce fatigue damage, and greatly reduce the stress concentration at the connection between the fuselage and the wing, thereby improving the reliability of the structure and reducing the weight of the structure under the same safety level;

[0028] 2. The present invention adopts a combination of fixed wings and rotors to achieve precise hovering and accelerated forward flight on the basis of vertical take-off and landing, and has the advantages of high flight speed and good flight stability;

[0029] 3. The present invention adjusts different tilting spindle modes through motors, thereby achieving attitude control of the aircraft, realizing conversion of different flight modes, and completing flight missions in different scenarios;

[0030] 4. The present invention adopts a four-rotor layout to reduce the restrictions on take-off and landing sites, ensuring stable take-off in various application scenarios. At the same time, the torque between the front and rear rotors and the left and right rotors is self-offset, and the fuselage does not need to balance the reverse torque, which simplifies the structure and reduces the weight of the fuselage. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a schematic diagram of the overall external structure of an embodiment of the present invention;

[0033] Figure 2 A schematic diagram of the rotor rotation and main pulling force sources during vertical take-off and landing in an embodiment of the present invention;

[0034] Figure 3 A schematic diagram of the rotor rotation and lift source during forward flight of an embodiment of the present invention;

[0035] Figure 4 The calculation results of the lift-to-drag ratio at different attack angles during forward flight of the embodiment of the present invention;

[0036] Figure 5 The static strength calculation result of the tail beam structure of the embodiment of the present invention;

[0037] Figure 6 Schematic diagram of the structure of the aileron in an embodiment of the present invention.

[0038] In the figure: 1-wing-body fusion structure; 2-quadrotor; 3-tail; 4-straight wing; 41-aileron; 411-aileron one; 412-aileron two; 5-fairing; 6-rotor duct; 7-fixed main shaft rotor; 8-tilt main shaft rotor; 9-vertical tail; 10-horizontal tail. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0040] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connecting" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0041] In order to ensure the stability of the flight process, existing drones need to slowly adjust their flight attitude. The attitude change process is usually slow, and the forward flight speed is low. At the same time, they cannot accelerate during the forward flight. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, a composite propulsion tiltable main shaft rotor aircraft comprises a wing-body fusion structure 1, a quadrotor 2 and a tail 3. The wing-body fusion structure 1 comprises a straight wing 4, a fairing 5 and a rotor duct 6. The straight wing 4 and the fairing 5 are connected by an internal beam, and the fairing 5 is rigidly connected to the rotor duct 6. The quadrotor 2 comprises a fixed main shaft rotor 7 and a tilting main shaft rotor 8. The main shaft fixed rotor 7 and the rotor duct 6 are connected by a fixed shaft, and the tilting main shaft rotor 8 and the straight wing 4 are connected by a rotating shaft. The tail 3 comprises a vertical tail 9 and a horizontal tail 10;

[0042] The straight wing 4 provides lift and supports the fixed-wing flight mode. The fairing 5 adopts a streamlined design and is connected to the straight wing 4 through an internal beam to enhance the overall structural strength and optimize the aerodynamic performance. The rotor duct 6 is rigidly connected to the fairing 5 to accommodate and protect the rotor system. The fixed main shaft rotor 7 consists of two rotors, which are located at the front and rear positions respectively and are connected to the rotor duct 6 through a fixed shaft. The front and rear rotor blades are installed in opposite directions and are driven by independent motors respectively. The rotation directions are also opposite to offset the anti-torque. The tilt-main shaft rotor 8 consists of two rotors, which are located at the left and right positions respectively and are connected to the straight wing 4 through a rotating shaft. The main shaft can be tilted by a motor drive. The left and right rotor blades are installed in opposite directions and are driven by independent motors respectively. The rotation directions are also opposite to offset the anti-torque. The tilt-main shaft rotor 8 can switch between vertical take-off and landing and horizontal forward flight modes to provide flexible flight attitude control. The vertical tail 9 provides directional stability to help control yaw, and the horizontal tail 10 provides pitch stability to help control the pitch angle.

[0043] During takeoff, the front and rear rotors of the fixed main shaft rotor 7 are reversed, and the left and right rotors of the tilting main shaft rotor 8 are reversed, and the torque generated is self-balanced, referring to Figure 2 It can be seen that the quadrotor 2 generates an upward pull, driving the aircraft to take off and land vertically. The main pulling force distribution is as follows Figure 2 As shown, after takeoff, the tilt angles of the two rotor main shafts in the tilt-spindle rotor 8 are adjusted by remotely controlling the servos on both sides of the wing, thereby adjusting the direction of the pulling force generated by the rotors on both sides, and finally changing the flight attitude. When the rotors on both sides are tilted 90°, the aircraft is in a horizontal forward flight state. During horizontal forward flight, the tilt-spindle rotor 8 rotates 90° to face forward, and the forward pulling force generated by the tilt-spindle rotor 8 and the lift generated by the fixed wing. The wing-body fusion structure 1 enhances the overall rigidity and reliability. By independently controlling each rotor, it provides precise attitude adjustment and high maneuverability. The attitude of the drone changes quickly during flight, which is convenient for speed adjustment.

[0044] In one embodiment, in order to further improve the flight stability of the UAV, an aileron 41 is provided at the tail of the straight wing 4, and an aileron 1 411 and an aileron 2 412 are respectively installed on the left and right straight wings 4. The aileron 41 is a wedge-shaped structure, and the aileron 1 411 and the aileron 2 412 include a mounting surface and a straightening surface. The aileron 41 is installed on the straight wing 4 through the mounting surface, and the straightening surfaces of the aileron 1 411 and the aileron 2 412 face oppositely, specifically, the straightening surface of the aileron 1 411 faces upward, and the straightening surface of the aileron 2 412 faces downward. The aileron is the main control surface for controlling the roll of the aircraft. By changing the angles of the ailerons on both sides, different lift distributions can be generated, thereby achieving precise control of the aircraft's roll angle. The wedge-shaped aileron 41 can provide better aerodynamic efficiency when flying at high speeds, allowing the drone to quickly adjust its flight attitude. The wedge-shaped aileron can help delay airflow separation, especially when flying at large angles of attack, thereby reducing induced drag and improving overall aerodynamic efficiency. Properly designed ailerons can improve the stall behavior of the wing, making the stall process more gradual and predictable, thereby improving flight safety. Since the fairing surfaces of aileron 1 411 and aileron 2 412 face opposite directions, they will generate opposite torques when working, which helps to offset the anti-torque generated by the rotor.

[0045] The above aircraft is simulated at different angles of attack, and the lift and drag are calculated. Figure 4 As shown in the figure, when the angle of attack is not greater than 11°, the lift and drag are relatively stable. It can be judged that the aircraft has excellent aerodynamic performance. The tail connected to the tail beam can ensure that the aircraft has high stability during the flight attitude change process. The results of the static strength simulation are as follows Figure 5 As shown, it can be judged that the structure has strong structural stability.

[0046] In one embodiment, in order to improve the overall stability of the drone, the fixed main shaft rotor 7 and the tilting main shaft rotor 8 both adopt the OA209 airfoil, with 3 blades and a root installation angle of 14°. During takeoff, the fixed main shaft rotor 7 and the tilting main shaft rotor 8 are driven to rotate by the motor. Since the front and rear blades of the fixed main shaft rotor 7 are installed in opposite directions, and the left and right blades of the tilting main shaft rotor 8 are installed in opposite directions, the rotation direction is controlled to ensure that the four rotors all generate upward pulling force, and the torque generated can offset each other, ensuring that the whole machine overcomes gravity and takes off vertically stably without rotating the aircraft. During flight, the servos on both sides can control the angle of the independently tiltable rotors respectively, and the speed adjustment of the four motors is combined for attitude control. By tilting the rotating main shaft of the tilting main shaft rotor 8, the pulling direction of the rotors on both sides changes, driving the aircraft to fly forward, and at the same time, it can meet the three maneuverability of pitch, roll, and yaw, and realize flight modes such as climbing, turning, and oblique flight.

[0047] For flight missions with rolling requirements, the aileron deflection can be controlled to adjust the roll angle in real time. Through flight control, different main axis tilt modes can be adjusted, and the tail can be used to ensure flight stability during flight.

[0048] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

Claims

1. A composite propulsion tiltable main shaft rotor aircraft, characterized in that: It comprises a wing-body fusion structure (1), a quadrotor (2) and a tail wing (3); The wing-body fusion structure (1) comprises a straight wing (4), a fairing (5) and a rotor duct (6), the straight wing (4) and the fairing (5) are connected by an internal beam, and the fairing (5) and the rotor duct (6) are rigidly connected; The quadrotor (2) comprises a fixed main shaft rotor (7) and a tilting main shaft rotor (8); the main shaft fixed rotor (7) is connected to the rotor duct (6) by a fixed shaft, the tilting main shaft rotor (8) is connected to the straight wing (4) by a rotating shaft, the main shaft of the tilting main shaft rotor (8) is driven by a motor to tilt, the fixed main shaft rotor (7) has two rotor blades, and the installation directions of the two rotor blades are opposite; the tilting main shaft rotor (8) has two rotor blades, and the installation directions of the two rotor blades are opposite; The fixed spindle rotor (7) and the tilting spindle rotor (8) are respectively connected to the driving spindle of the motor, the front and rear rotor blades of the fixed spindle rotor (7) rotate in opposite directions, and the left and right rotor blades of the tilting spindle rotor (8) rotate in opposite directions; The tail wing (3) comprises a vertical tail (9) and a horizontal tail (10).

2. The compound propulsion tiltable spindle rotor aircraft according to claim 1, characterized in that: The straight wing (4) is also provided with an aileron (41), and the aileron (41) is installed at the tail of the straight wing (4) on both sides; the aileron (41) comprises an aileron 1 (411) and an aileron 2 (412), and the installation directions of the aileron 1 (411) and the aileron 2 (412) are opposite.

3. The compound propulsion tiltable spindle rotor aircraft according to claim 2, characterized in that: The aileron (41) is a wedge-shaped structure as a whole, comprising a mounting surface and a straightening surface, the mounting surface being connected to the motor, the straightening surface of the aileron 1 (411) and the straightening surface of the aileron 2 (412) being mounted in opposite directions, and grooves are provided on the straight wing (4), the aileron (41) and the tail wing (3).

4. The compound propulsion tiltable spindle rotor aircraft according to claim 1, characterized in that: The fairing (5) is a streamlined structure and is rigidly connected to the straight wing (4).

5. The composite propulsion tiltable main shaft rotor aircraft according to claim 1, characterized in that: The number of blades of the fixed main shaft rotor (7) and the tilting main shaft rotor (8) is set to 3, and the root installation angle is 10°-20°.

6. A compound propulsion tiltable spindle rotor aircraft according to claim 5, characterized in that: The left and right rotor main shafts of the tilting main shaft rotor (8) are respectively connected to the motor.

7. The composite propulsion tiltable spindle rotor aircraft according to claim 1, characterized in that: The motor is installed in the fairing (5), and a plurality of the motors are provided.

8. The compound propulsion tiltable spindle rotor aircraft according to claim 1, characterized in that: The angle of attack of the wing-body fusion structure (1) does not exceed 11°.

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