Tailstock type vector propulsion variable tandem wing folding inspection unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and provides a tailstock type vector propulsion variable tandem wing folding inspection unmanned aerial vehicle. The unmanned aerial vehicle comprises a fuselage, a front wing and a rear wing, wherein the front wing and the rear wing form a tandem wing layout; the front wings are mounted on the front wing folding mechanisms through tilting steering engines, and power propellers are arranged on the front wings; under the driving of the front wing folding mechanism, the front wings can be completely folded and stored in the longitudinal axis direction of the fuselage or unfolded in the transverse axis direction of the fuselage in a flight mode; the tilting steering engine can adjust the tilting angle of the front wing, the rear wing is rotationally installed on the rear wing variable swept wing mechanism, the rear wing is driven by the rear wing variable swept wing mechanism to be completely folded and stored in the longitudinal axis direction of the fuselage, and wing swept angle adjustment of 50-100 degrees is conducted in the level flight stage. Therefore, the portable storage of the unmanned aerial vehicle is realized, the crosswind influence is effectively reduced in the vertical take-off and landing stage, and the aerodynamic efficiency is optimal in the flight stage.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a tail-seat vector-propelled variable tandem-wing folding inspection unmanned aerial vehicle. Background Art

[0002] With the increasing development of UAV technology, the application fields of UAV are becoming more and more extensive, not only in the military field, but also in the civilian field. Among them, fixed-wing UAVs have shown significant advantages in terms of endurance, load capacity, flight stability, etc., and therefore have been widely used in many fields.

[0003] Compared with rotary-wing UAVs, fixed-wing UAVs have longer flight distance, higher flight speed and stronger load capacity. Therefore, fixed-wing UAVs have been widely used in mine surface exploration, environmental monitoring, logistics and transportation, geological exploration and other fields.

[0004] However, fixed-wing UAVs usually have a large wingspan and volume, making them difficult to carry, which limits their use and transportation. During flight, fixed-wing UAVs have a constant windward area, and are easily affected by strong winds and extreme weather conditions, making them less adaptable. Moreover, fixed-wing UAVs cannot achieve optimal aerodynamic efficiency at all stages of flight due to their constant wing angles. Based on traditional fixed-wing UAVs, fixed-wing vertical take-off and landing UAVs have added a vertical take-off kit, but during cruising flight, the vertical take-off and landing kit is usually not involved in the flight, which is very heavy. Summary of the invention

[0005] The purpose of the present application is to provide a tail-mounted vector-propelled variable tandem-wing folding inspection drone to solve or alleviate the problems existing in the above-mentioned prior art.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] The present application provides a tail-mounted vector-propelled variable tandem-wing folding inspection drone, comprising: a fuselage and a front wing and a rear wing forming a tandem-wing layout; a front wing folding mechanism and a rear wing variable-sweep wing mechanism are installed on the fuselage;

[0008] The front wing is mounted on the front wing folding mechanism through a tilting servo, and a power propeller is arranged on the front wing; and driven by the front wing folding mechanism, the front wing can be completely folded and stored in the longitudinal axis direction of the fuselage, or unfolded along the transverse axis direction of the fuselage in flight mode;

[0009] The tilting servo can adjust the tilting angle of the front wing so that the power propeller provides different driving torques in the vertical take-off and landing stage and the level flight stage of the UAV, so as to drive the UAV to take off and land vertically or adjust the attitude of the UAV;

[0010] The rear wing is rotatably mounted on the rear wing variable sweep wing mechanism, and driven by the rear wing variable sweep wing mechanism, the rear wing is completely folded and stored in the longitudinal axis direction of the fuselage during the vertical take-off and landing stage to reduce the impact of side wind on flight, and the wing sweep angle is adjusted by 50° to 100° during the level flight stage.

[0011] Preferably, during the vertical take-off and landing stage, the power propeller provides vertical lift for the UAV, and the tilting servo drives the front wings on the left and right sides and the power propeller to rotate in the same direction and at the same angle to provide the UAV with forward or backward power;

[0012] or,

[0013] During the vertical take-off and landing phase, the power propeller provides vertical lift for the UAV, and the tilting servo drives the front wings on the left and right sides and the power propeller to rotate in opposite directions to provide yaw moment power for the UAV;

[0014] or,

[0015] During the vertical take-off and landing phase, the power propeller provides vertical lift for the UAV, and the power propellers on the left and right front wings rotate differentially to provide rolling torque power for the UAV.

[0016] Preferably, in the level flight stage, the power propeller provides the UAV with forward flight pulling force, and the tilting servo drives the front wings on the left and right sides to rotate in the same direction and at the same angle to provide the UAV with pitch moment power;

[0017] or,

[0018] In the level flight stage, the power propeller provides the UAV with forward flight pulling force, and the tilting servo drives the front wings on the left and right sides and the power propeller to rotate in opposite directions to provide the UAV with rolling torque power;

[0019] or,

[0020] In the level flight stage, the power propeller provides the UAV with forward flight pulling force, and the power propellers on the left and right front wings rotate differentially to provide the UAV with yaw moment power.

[0021] Preferably, the rear wing variable sweep mechanism drives the rear wing to move synchronously through synchronous gear transmission and a worm gear mechanism.

[0022] Preferably, the rear wing variable sweep mechanism comprises: a mounting housing mounted inside the fuselage;

[0023] A first driving worm, rotatably mounted on the mounting housing, one end of which is connected to an output end of the driving motor;

[0024] A second driving worm is rotatably mounted on the mounting housing and is arranged in parallel with the first driving worm in a vertical direction;

[0025] A main driving gear connected to the other end of the first driving worm;

[0026] A driven gear connected to one end of the second driving worm, arranged in parallel with the main driving gear in a vertical direction, and meshing with the main driving gear as a synchronous gear;

[0027] A turbine shaft, one end of which is rotatably mounted on the mounting housing, and the other end of which extends out of the fuselage and is connected to one of the rear wings;

[0028] a first driving turbine connected to the first driving worm and rotatably mounted on the turbine shaft;

[0029] a second driving turbine connected to the second driving worm, arranged in parallel with the first driving turbine in a vertical direction, rotatably mounted on the fuselage, and connected to the other rear wing;

[0030] Wherein, one end of the turbine shaft on which the rear wing is mounted passes through along the axis of the second driving turbine.

[0031] Preferably, it also includes: a foldable vertical tail, which can be detachably mounted on the tail of the fuselage and also serves as a landing gear during the vertical take-off and landing stage.

[0032] Preferably, the foldable vertical tail comprises: a side slide rail, a side slider, a fixed connecting rod and a sliding connecting rod; the side slide rail is installed on the side of the fuselage near the tail of the fuselage;

[0033] There are two side sliders, and the two side sliders are slidably installed in the side slide rails respectively;

[0034] There are two fixed links and two sliding links, one end of the two fixed links is coaxially rotatably installed on the side slider close to the tail of the fuselage, one end of the two sliding links is coaxially rotatably installed on the other side slider, and the other ends of the two sliding links are respectively rotatably connected to the other ends of the two fixed links; wherein, during the vertical take-off and landing stage and the flight stage, the two fixed links and the two sliding links form a dovetail structure with an opening toward the tail of the fuselage.

[0035] Preferably, it also includes: a center of gravity adjustment mechanism, which is installed in the shell of the fuselage and connected to the mobile battery compartment, and can drive the mobile battery compartment to move along the longitudinal axis of the fuselage to adjust the position of the mobile battery compartment.

[0036] Preferably, a linear slide rail is provided inside the shell of the fuselage, and the mobile battery compartment is slidably mounted on the linear slide rail.

[0037] Preferably, the center of gravity adjustment mechanism drives the mobile battery compartment to move along the longitudinal axis of the fuselage through a screw and nut mechanism.

[0038] Beneficial effects:

[0039] The tail-seat vector-propelled variable tandem-wing folding inspection drone provided in the embodiment of the present application has a front wing folding mechanism and a rear wing variable-sweep wing mechanism installed on the fuselage, the front wing is installed on the front wing folding mechanism through a tilting servo, and the rear wing is installed on the rear wing variable-sweep wing mechanism, and the front wing and the rear wing form a tandem wing layout. Driven by the front wing folding mechanism, the front wing can be completely folded and stored in the longitudinal axis direction of the fuselage, and driven by the rear wing variable-sweep wing mechanism, the rear wing can also be completely stored in the longitudinal axis direction of the fuselage. By folding the front wing and the rear wing, the storage portability of the drone is effectively improved.

[0040] A power propeller is arranged on the front wing, and a tilting servo installed on the front wing folding mechanism can adjust the tilting angle of the front wing, so that the power propeller can provide different driving torques during the vertical take-off and landing stage and the level flight stage of the UAV, driving the UAV to perform vertical take-off and landing or adjust the flight attitude of the UAV.

[0041] At the same time, driven by the rear wing variable sweep mechanism, on the one hand, the rear wing can be completely folded and stored in the longitudinal axis direction of the fuselage during the vertical take-off and landing stage, reducing the overall windward area of ​​the UAV during vertical take-off and landing, effectively reducing the impact of side winds, and improving the safety, reliability and stability of the UAV's vertical flight; on the other hand, during the level flight stage of the UAV, the rear wing can adjust the wing sweep angle from 50° to 100° to achieve the optimal aerodynamic efficiency during the flight stage.

[0042] The center of gravity adjustment mechanism drives the mobile battery compartment to move along the longitudinal axis of the fuselage, balances the changes in the aerodynamic center after the wing sweep angle of the rear wing is adjusted, and adapts to the aerodynamic changes in different flight phases to achieve optimal aerodynamic efficiency during the flight phase. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0044] in:

[0045] Figure 1 A schematic diagram of the structure of a tail-seat vector-propelled variable tandem-wing folding inspection drone in a folded and stored state according to some embodiments of the present application;

[0046] Figure 2 A schematic diagram of the structure of a tail-seat vector-propelled variable tandem-wing folding inspection drone in the vertical take-off and landing stage according to some embodiments of the present application;

[0047] Figure 3 A schematic diagram of the installation of a rear wing variable sweep mechanism according to some embodiments of the present application;

[0048] Figure 4 A schematic diagram of the installation of a center of gravity adjustment mechanism and a front wing folding mechanism provided according to some embodiments of the present application;

[0049] Figure 5 A schematic diagram of the assembly of a front wing folding mechanism according to some embodiments of the present application;

[0050] Figure 6 A schematic diagram of the structure of a lower turntable provided according to some embodiments of the present application;

[0051] Figure 7 It is a schematic diagram of assembling a rear wing variable sweep mechanism according to some embodiments of the present application;

[0052] Figure 8 A transmission schematic diagram of a rear wing variable sweep mechanism provided according to some embodiments of the present application;

[0053] Fig. 9 A cross-sectional view of a rear wing variable sweep mechanism provided according to some embodiments of the present application;

[0054] Fig.10 A schematic diagram of the structure of an installation housing provided according to some embodiments of the present application;

[0055] Fig.11It is a schematic diagram of assembling a center of gravity adjustment mechanism and a mobile battery compartment according to some embodiments of the present application;

[0056] Fig.12 A schematic diagram of a fixed-wing cruise flight state of a tail-seat vector-propelled variable tandem-wing folding inspection UAV provided according to some embodiments of the present application;

[0057] Fig.13 A schematic diagram of a tail-mounted vector-propelled variable tandem-wing folding inspection UAV in a fixed-wing mode in accordance with some embodiments of the present application;

[0058] Fig.14 A schematic diagram of a tail-mounted vector-propelled variable tandem-wing folding inspection UAV in a fixed-wing mode with the wings swept forward according to some embodiments of the present application;

[0059] Fig.15 A schematic diagram of the front wing tilt vector control state of a tail-mounted vector-propelled variable tandem-wing folding inspection UAV provided according to some embodiments of the present application.

[0060] Description of reference numerals:

[0061] 100, fuselage; 200, front wing folding mechanism; 300, front wing; 400, power propeller; 500, folding vertical tail; 600, rear wing variable sweep mechanism; 700, center of gravity adjustment mechanism; 800, mobile battery compartment; 900, linear slide rail;

[0062] 201, lower turntable; 202, upper turntable; 203, tilting servo;

[0063] 601, mounting housing; 602, first driving worm; 603, second driving worm; 604, main driving gear; 605, driven gear; 606, turbine shaft; 607, first driving turbine; 608, second driving turbine;

[0064] 701, reduction drive motor; 702, L-shaped bracket; 703, rigid coupling; 704, rotating screw; 705, screw slider; DETAILED DESCRIPTION

[0065] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present application and does not limit the present application. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present application without departing from the scope or spirit of the present application. For example, a feature shown or described as a part of an embodiment may be used in another embodiment to produce yet another embodiment. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the embodiments of the present invention should belong to the scope of protection of the embodiments of the present invention.

[0066] At present, although tail-seat fixed-wing UAVs have solved the problems existing in conventional fixed-wing UAVs and fixed-wing vertical take-off and landing UAVs, tail-seat fixed-wing UAVs are easily affected by crosswinds during the vertical flight phase, resulting in insufficient take-off and landing stability.

[0067] Based on this, the embodiment of the present application proposes a tail-seat vector-propelled variable tandem-wing folding inspection UAV, which realizes vertical flight and take-off and landing by tail-seat control; adopts a tandem wing layout, and the front and rear wings are foldable to achieve portable storage; the rear wing can be retracted and extended by 5° to 100° in various stages of flight, and the vertical take-off and landing node is completely retracted to reduce the frontal area, reduce the impact of crosswinds, and improve take-off and landing stability; during flight, the rear wing can adjust the wing sweep angle according to the airspeed or flight needs to achieve optimal aerodynamic efficiency in various stages of flight, effectively improving the portability and operating efficiency of the UAV, and having stronger flight adaptability.

[0068] like Figures 1 to 15 As shown, the tail-seat vector-propelled variable tandem wing inspection drone comprises: a fuselage 100 and a front wing 300 and a rear wing forming a tandem wing layout. Among them, a front wing folding mechanism 200 and a rear wing variable sweep wing mechanism 600 are installed on the fuselage 100, the front wing 300 is installed on the front wing folding structure through a tilting servo 203, and the rear wing is installed on the rear wing variable sweep wing mechanism 600. Driven by the front wing folding mechanism 200, the front wing 300 can be completely folded and stored in the longitudinal axis direction of the fuselage 100, and driven by the rear wing variable sweep wing mechanism 600, the rear wing can also be completely stored in the longitudinal axis direction of the fuselage 100. The front wing 300 and the rear wing are in a folded state at the same time, which is convenient for the drone to be stored, and effectively improves the storage portability of the drone.

[0069] A power propeller 400 is provided on the front wing 300. The tilt angle of the front wing 300 is adjusted by the tilt servo 203 installed on the front wing folding mechanism 200, and the power propeller 400 follows the movement, so that the power propeller 400 can provide different driving torques during the vertical take-off and landing stage and the level flight stage of the UAV, thereby driving the UAV to perform vertical take-off and landing or adjust the flight attitude of the UAV.

[0070] Specifically, during the vertical take-off and landing stage of the UAV, the tilt-steering servo 203 drives the front wing 300 to rotate, and the power propeller 400 and the front wing 300 follow and provide vertical lift to the UAV, so that the UAV can perform vertical take-off and landing. In this state, when the tilt-servo 203 drives the front wings 300 on the left and right sides of the fuselage 100 and the power propellers 400 on the front wings 300 to rotate in the same direction and at the same angle, it can provide forward or backward power for the UAV, so that the UAV flies forward or backward; when the tilt-servo 203 drives the front wings 300 on the left and right sides and the power propellers 400 on the front wings 300 to rotate in opposite directions, it can provide yaw moment power for the UAV to adjust the flight direction of the UAV; when the tilt-servo 203 drives the front wings 300 on the left and right sides and the power propellers 400 on the front wings 300 to rotate differentially, a thrust difference is formed on the left and right sides of the fuselage 100, which can provide rolling moment power for the UAV and adjust the left and right lateral translation of the UAV.

[0071] In the level flight stage of the UAV, the tilting servo 203 drives the front wing 300 to rotate, and the power propeller 400 follows the front wing 300 and provides flight pulling force to the UAV, so that the UAV can fly level. In this state, when the tilting servo 203 drives the front wings 300 on the left and right sides of the fuselage 100 and the power propeller 400 on the front wings 300 to rotate in the same direction and at the same angle, it can provide the UAV with pitch moment power to adjust the pitch attitude of the UAV; when the tilting servo 203 drives the front wings 300 on the left and right sides of the fuselage 100 and the power propeller 400 on the front wings 300 to rotate in opposite directions, it can provide the UAV with rolling moment power to adjust the rolling attitude of the UAV; when the tilting servo 203 drives the front wings 300 on the left and right sides of the fuselage 100 and the power propeller 400 on the front wings 300 to rotate differentially, it can provide the UAV with yaw moment power to adjust the yaw attitude of the UAV.

[0072] At the same time, during the vertical take-off and landing stage, the rear wing can be completely retracted into the longitudinal axis direction of the fuselage 100 by controlling the wing sweep angle under the drive of the rear wing variable sweep mechanism 600, thereby effectively reducing the overall windward area of ​​the UAV during vertical take-off and landing, reducing the impact of crosswinds, and improving the tail-seat landing stability of the UAV and the safety and reliability of vertical flight.

[0073] During the flight phase, the rear wing is unfolded under the drive of the rear wing variable sweep mechanism 600, and the wing sweep angle can be adjusted by 50° to 100° according to the airspeed or flight needs to achieve the best aerodynamic efficiency in each flight phase. Among them, the wing sweep angle is automatically adjusted by the flight control program according to the airspeed. When the airspeed exceeds the ground speed by more than 30%, the rear wing is automatically adjusted from 90° to 50° forward sweep (low wind resistance flight state), and when the throttle is greater than 80%, the rear wing is automatically adjusted from 90° to 100° backward sweep (fixed wing mode high-speed flight state).

[0074] In the present application, the front wing folding mechanism 200 realizes the folding or unfolding of the left and right front wings 300 through a spiral lifting structure. Specifically, the front wing folding mechanism 200 includes: a lower turntable 201 and an upper turntable 202 that are coaxially mounted, and the lower turntable 201 and the upper turntable 202 can rotate around the same fixed rotation axis to drive the left and right front wings 300 respectively mounted on the lower turntable 201 and the upper turntable 202 to rotate synchronously. Among them, the contact surface between the lower turntable 201 and the upper turntable 202 is a spiral lifting and locking structure, so that when the lower turntable 201 rotates (manually adjusted when the drone is in use), under the action of the spiral lifting and locking structure, the lower turntable 201 pushes the upper turntable 202 upward and rotates synchronously in the opposite direction, that is, under the action of the spiral lifting contact surface, the upper turntable 202 moves upward relative to the lower turntable 201, and rotates synchronously in the opposite direction with the lower turntable 201, and then, the upper turntable 202 and the lower turntable 201 drive the left and right front wings 300 to be folded or unfolded synchronously.

[0075] In this embodiment, the upper turntable 202 is rotatably mounted on the fixed rotating shaft and actively rotates around the fixed rotating shaft, while the upper turntable 202 is movably mounted on the fixed rotating shaft and can simultaneously rotate around the fixed rotating shaft and move up and down along the fixed rotating shaft. Under the action of the spiral lifting contact surface, the upper turntable 202 is pushed by the lower turntable 201 to passively move upward while rotating in the opposite direction around the fixed rotating shaft.

[0076] The lower turntable 201 in the front wing folding mechanism 200 is rotatably mounted on the top surface of the fuselage 100 through a bearing, and the lower part of the lower turntable 201 extends into the interior of the fuselage 100; the top surface of the lower turntable 201 is a spiral lifting contact surface, and the bottom surface of the upper turntable 202 is a spiral lifting contact surface, and the spiral lifting contact surface of the lower turntable 201 and the spiral lifting contact surface of the upper turntable 202 are mutually engaged and contacted and spirally lifted in opposite directions. Here, the lower turntable 201 and the upper turntable 202 are respectively provided with mounting and fixing holes corresponding to the fuselage 100. After the lower turntable 201 and the upper turntable 202 are manually adjusted to the set position, the fasteners are screwed into the mounting and fixing holes corresponding to the lower turntable 201 and the upper turntable 202 and the fuselage 100, and the lower turntable 201 and the upper turntable 202 can be fixed.

[0077] On the outer wall of the upper turntable 202 and the outer wall of the lower turntable 201, mounting platforms extending radially outward are respectively provided. The tilting servo 203 is detachably connected to the mounting platform. The output end of the tilting servo 203 is detachably connected to the front wing 300 through the servo wing connector. Thus, the tilting servo 203 drives the front wing 300 to rotate, and the tilting angle of the front wing 300 is adjusted in real time. In addition, the mounting and fixing holes corresponding to the lower turntable 201, the upper turntable 202 and the fuselage 100 are all provided on the mounting platform. Specifically, a light hole is provided on the mounting platform, and a threaded hole coaxial with the light hole is provided on the fuselage.

[0078] Here, it should be noted that the front wing 300 and the power propeller 400 are connected through a propeller bracket, and then, when the tilt servo 203 adjusts the tilt angle of the front wing 300, the power propeller 400 on the front wing 300 is synchronously driven to move together, so that the power direction provided by the power propeller 400 is adjusted with the adjustment of the tilt angle of the front wing 300. Among them, the propeller bracket is fixedly installed on the front wing 300, and the power propeller 400 is detachably installed on the propeller bracket; the propeller bracket is an L-shaped structure, and the two perpendicular sides of the L-shaped structure are detachably connected to the front wing 300 and the power propeller 400 respectively.

[0079] In the present application, the rear wing variable sweep mechanism 600 drives the rear wing to be synchronously folded or unfolded through synchronous gear transmission and worm gear mechanism. Specifically, the rear wing variable sweep mechanism 600 includes: a mounting housing 601, a first driving worm 602 and a second driving worm 603 installed in parallel in the mounting housing 601 along the vertical direction, a main driving gear 604 and a driven gear 605 respectively connected to the same end of the first driving worm 602 and the second driving worm 603, a turbine shaft 606 rotatably mounted on the mounting housing 601, a first driving turbine 607 fixedly mounted on the turbine shaft 606 and adapted to drive with the first driving worm 602, and a second driving turbine 608 rotatably mounted on the fuselage 100 and adapted to drive with the second driving worm 603 and arranged coaxially and parallel to the first driving turbine 607 along the vertical direction.

[0080] Among them, the mounting shell 601 is detachably mounted inside the fuselage 100 through fasteners; the first driving worm 602 is rotatably mounted on the mounting shell 601 through a bearing, and one end of the first driving worm 602 is connected to the output end of the driving motor installed inside the fuselage 100 through a rigid coupling, and the other end of the first driving worm 602 extending out of the mounting shell 601 is installed with a main driving gear 604; the second driving worm 603 is rotatably mounted on the mounting shell 601 through a bearing, and is arranged in parallel with the first driving worm 602 in a vertical direction, and the second driving worm 603 extends out of the mounting shell 601 and has a driven gear 605 installed on the end corresponding to the main driving gear 604; the main driving gear 604 and the driven gear 605 are synchronous meshing gears.

[0081] A mounting through hole is provided on one side of the mounting housing 601 near the first driving worm 602, one end of the turbine shaft 606 is rotatably mounted in the mounting through hole through a bearing, and the other end of the turbine shaft 606 passes through the fuselage 100 and is connected to one of the rear wings through a flange connecting shaft; the first driving worm 602 is connected to the turbine shaft 606 as a whole through a flange coupling, and the first driving worm 602 is meshed with the first driving turbine 607; the second driving turbine 608 is rotatably mounted on the fuselage 100 through a bearing, and the end away from the second driving worm 603 is connected to the other rear wing of the drone through a flange connecting shaft. Specifically, the second driving turbine 608 is provided with a through hole along the central axis, and the end of the turbine shaft 606 away from the first driving turbine 607 passes through the through hole and is connected to one of the rear wings of the drone.

[0082] Thus, the first driving worm 602 and the first driving worm 607, the second driving worm 603 and the second driving worm 608 respectively form a worm gear mechanism, and the main driving gear 604 and the driven gear 605 form a synchronous gear transmission. When the driving motor drives the first driving worm 602 to rotate, the first driving worm 602 drives the main driving gear 604 and the first driving worm 602 to rotate at the same time; the rotation of the main driving gear 604 drives the driven gear 605 to rotate and change the rotation direction, the driven gear 605 rotates and drives the second driving worm 603 to rotate, and the rotation direction of the second driving worm 603 is opposite to the rotation direction of the first driving worm 602, and the rotation of the second driving worm 603 drives the second driving worm 608 to rotate, and then, the second driving worm 608 and the first driving worm 607 are synchronized and rotate in the opposite direction. The rotation of the first driving turbine 607 drives the turbine shaft 606 to rotate, and then drives a rear wing mounted on the turbine shaft 606 to move; the rotation of the second driving turbine 608 drives another rear wing connected to the second driving turbine 608 to move. The second driving turbine 608 rotates synchronously with the first driving turbine 607 and in opposite directions, so that the two rear wings move synchronously and in opposite directions. In this way, the rear wings can be folded or unfolded synchronously.

[0083] In the present application, a foldable vertical tail 500 is detachably mounted on the tail of the fuselage 100. During the use of the drone, the foldable vertical tail 500 is manually mounted on the fuselage 100 to enhance the flight stability of the drone, control the flight attitude of the drone, and maintain the static stability of the drone in the yaw direction. Here, the foldable vertical tail 500 adopts a frame-type folding structure, which fits the outer side of the fuselage 100 when stored. After unfolding, it serves as a vertical tail to maintain the longitudinal stability of the drone in the fixed-wing mode, and at the same time, it is used as a landing gear in the vertical take-off and landing stage.

[0084] Specifically, a set of matching side rails, side sliders, fixed links and sliding links are installed on both sides of the drone fuselage 100 as the framework of the folding vertical tail 500 of the drone. Among them, the side rails are installed on the side of the fuselage 100 near the tail of the fuselage 100; there are two side sliders, and the two side sliders are respectively slidably installed in the side rails; there are two fixed links and two sliding links, one end of the two fixed links is coaxially rotatably installed on the side slider near the tail of the fuselage 100, one end of the two sliding links is coaxially rotatably installed on the other side slider, and the other ends of the two sliding links are respectively rotatably connected to the other ends of the two fixed links. During the vertical take-off and landing stage and the flight stage, the two fixed links and the two sliding links form a dovetail structure with an opening facing the tail of the fuselage 100.

[0085] During the flight preparation stage of the drone, the folding vertical tail 500 is unfolded from the state of being fitted to the outside of the fuselage 100 when stored by adjusting the relative positions of the two fixed sliders. After adjusting to the set position, the fixed shafts at the rotational connection of the two fixed links and the fixed shafts at the rotational connection of the two sliding links are tightened. Specifically, multiple threaded holes are evenly distributed along the length direction on the side rails, and the fixed shafts can be provided with external threads. After adjusting to the set position, the threaded part of the fixed shaft is screwed into the threaded hole, and the fixed link and the sliding link can be relatively limited and fixed; or, a through hole is opened on the fixed shaft, and a fastening screw is provided, and the fastening screw is screwed into the threaded hole, thereby relatively limiting and fixing the fixed link and the sliding link.

[0086] In the present application, a center of gravity adjustment mechanism 700 is also provided in the shell of the fuselage 100. The center of gravity adjustment mechanism 700 is connected to the mobile battery compartment 800 and can drive the mobile battery compartment 800 to move along the longitudinal axis of the fuselage 100 to adjust the position of the mobile battery compartment 800, thereby moving the center of gravity of the drone along the longitudinal axis to make the flight of the drone more stable. Specifically, a linear slide rail 900 is provided inside the shell of the fuselage 100. The linear slide rail 900 extends along the longitudinal axis of the drone, and the mobile battery compartment 800 is slidably installed on the linear slide rail 900; the center of gravity adjustment mechanism 700 drives the mobile battery compartment 800 to move along the linear slide rail 900 through the screw nut mechanism.

[0087] Among them, the reduction drive motor 701 of the center of gravity adjustment mechanism 700 is installed in the shell of the fuselage 100 through an L-shaped bracket 702, and the output end of the reduction drive motor 701 is connected to the rotating screw 704 through a rigid coupling 703; the rotating screw 704 is provided with a corresponding screw slider 705, and the screw slider 705 is connected to the mobile battery compartment 800 through a fastener, and then, under the action of the reduction drive motor 701, the mobile battery compartment 800 moves on the linear slide rail 900 along the longitudinal axis direction of the fuselage 100 to adjust the center of gravity position of the drone.

[0088] In the embodiment of the present application, power propellers 400 are respectively installed on the left and right front wings 300 of the drone, and the left and right front wings 300 are tilted by corresponding tilt servos 203 to adjust the tilt angles, so that the wing surfaces of the front wings 300 rotate, driving the power propellers 400 to deflect; the left and right front wings 300 are differentially or synchronously deflected by the tilt servos 203 to realize the rotation and forward and backward movement of the drone during the vertical take-off and landing stage, and the tilt offset of the drone is realized by the speed thrust difference of the two power propellers 400.

[0089] The rear wing of the UAV is completely retracted and folded under the drive of the rear wing variable sweep mechanism 600 during the vertical take-off and landing stage, reducing the windward area of ​​the entire UAV during vertical take-off and landing, effectively reducing the impact of crosswinds, and improving the safety, reliability and stability of the UAV's vertical flight; during the fixed-wing flight stage of the UAV, the rear wing can adjust the wing sweep angle according to the airspeed and flight requirements, change the wing windward area and resistance, so that the UAV has a larger flight envelope, and achieves the optimal aerodynamic shape throughout the flight stage, combining low-speed stability, cruise economy and high-speed flight performance. At the same time, the center of gravity adjustment mechanism 700 accurately controls the displacement of the large mass load (the mobile battery compartment 800 and the battery unit therein) through the screw nut mechanism, effectively balancing the center of gravity changes caused by aerodynamic changes during the variable sweep wing process.

[0090] At the same time, the drone in the embodiment of the present application adopts a frame-type folding vertical tail 500 and a landing gear design. The folding vertical tail 500 fits the outer shell of the fuselage 100 when stored. After the folding vertical tail 500 is unfolded, it serves as a vertical tail to maintain the longitudinal stability of the drone in the fixed-wing mode, and is also used as a landing gear during vertical takeoff and landing. In addition, the drone in the embodiment of the present application can adopt a hand-throwing takeoff and vertical landing method to improve flight efficiency and effectively avoid energy loss in the takeoff stage.

[0091] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0092] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0093] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0094] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0095] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0096] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A tail-seat vector-propelled variable tandem-wing folding inspection drone, characterized in that: include: The fuselage and the front and rear wings forming a tandem wing configuration; A front wing folding mechanism and a rear wing variable sweep mechanism are installed on the fuselage; The front wing is mounted on the front wing folding mechanism through a tilting servo, and a power propeller is arranged on the front wing; and driven by the front wing folding mechanism, the front wing can be completely folded and stored in the longitudinal axis direction of the fuselage, or unfolded along the transverse axis direction of the fuselage in flight mode; The tilting servo can adjust the tilting angle of the front wing so that the power propeller provides different driving torques in the vertical take-off and landing stage and the level flight stage of the UAV, so as to drive the UAV to take off and land vertically or adjust the attitude of the UAV; The rear wing is rotatably mounted on the rear wing variable sweep wing mechanism, and driven by the rear wing variable sweep wing mechanism, the rear wing is completely folded and stored in the longitudinal axis direction of the fuselage during the vertical take-off and landing stage to reduce the impact of side wind on flight, and the wing sweep angle is adjusted by 50° to 100° during the level flight stage.

2. The tail-seat vector-propelled variable tandem-wing folding inspection drone according to claim 1 is characterized in that: During the vertical take-off and landing phase, the power propeller provides vertical lift for the UAV, and the tilting servo drives the front wings on the left and right sides and the power propeller to rotate in the same direction and at the same angle to provide the UAV with forward or backward power; or, During the vertical take-off and landing phase, the power propeller provides vertical lift for the UAV, and the tilting servo drives the front wings on the left and right sides and the power propeller to rotate in opposite directions to provide yaw moment power for the UAV; or, During the vertical take-off and landing phase, the power propeller provides vertical lift for the UAV, and the power propellers on the left and right front wings rotate differentially to provide rolling torque power for the UAV.

3. The tail-seat vector-propelled variable tandem-wing folding inspection drone according to claim 1 is characterized in that: In the level flight stage, the power propeller provides the UAV with forward flight pulling force, and the tilting servo drives the front wings on the left and right sides to rotate in the same direction and angle to provide the UAV with pitch moment power; or, In the level flight stage, the power propeller provides the UAV with forward flight pulling force, and the tilting servo drives the front wings on the left and right sides and the power propeller to rotate in opposite directions to provide the UAV with rolling torque power; or, In the level flight stage, the power propeller provides the UAV with forward flight pulling force, and the power propellers on the left and right front wings rotate differentially to provide the UAV with yaw moment power.

4. The tail-seat vector-propelled variable tandem-wing folding inspection drone according to claim 1 is characterized in that: The rear wing variable sweep mechanism drives the rear wing to move synchronously through synchronous gear transmission and a worm gear mechanism.

5. The tail-seat vector-propelled variable tandem-wing folding inspection drone according to claim 4 is characterized in that: The rear wing variable sweep mechanism comprises: An installation housing is installed inside the fuselage; A first driving worm, rotatably mounted on the mounting housing, one end of which is connected to an output end of the driving motor; A second driving worm is rotatably mounted on the mounting housing and is arranged in parallel with the first driving worm in a vertical direction; A main driving gear connected to the other end of the first driving worm; A driven gear connected to one end of the second driving worm, arranged in parallel with the main driving gear in a vertical direction, and meshing with the main driving gear as a synchronous gear; A turbine shaft, one end of which is rotatably mounted on the mounting housing, and the other end of which extends out of the fuselage and is connected to one of the rear wings; a first driving turbine connected to the first driving worm and rotatably mounted on the turbine shaft; a second driving turbine connected to the second driving worm, arranged in parallel with the first driving turbine in a vertical direction, rotatably mounted on the fuselage, and connected to the other rear wing; Wherein, one end of the turbine shaft on which the rear wing is mounted passes through along the axis of the second driving turbine.

6. The tail-seat vector-propelled variable tandem-wing folding inspection drone according to claim 1 is characterized in that: Also includes: The foldable vertical tail can be detachably mounted on the tail of the fuselage and also serves as a landing gear during the vertical take-off and landing phase.

7. The tail-seat vector-propelled variable tandem-wing folding inspection drone according to claim 6 is characterized in that: The foldable vertical tail comprises: a side slide rail, a side slider, a fixed connecting rod and a sliding connecting rod; The side slide rail is installed on the side of the fuselage near the tail of the fuselage; There are two side sliders, and the two side sliders are slidably installed in the side slide rails respectively; There are two fixed links and two sliding links, one end of the two fixed links is coaxially rotatably installed on the side slider close to the tail of the fuselage, one end of the two sliding links is coaxially rotatably installed on the other side slider, and the other ends of the two sliding links are respectively rotatably connected to the other ends of the two fixed links; wherein, during the vertical take-off and landing stage and the flight stage, the two fixed links and the two sliding links form a dovetail structure with an opening toward the tail of the fuselage.

8. The tail-seat vector-propelled variable tandem-wing folding inspection drone according to claim 1 is characterized in that: Also includes: The center of gravity adjustment mechanism is installed in the shell of the fuselage and connected to the mobile battery compartment. It can drive the mobile battery compartment to move along the longitudinal axis of the fuselage to adjust the position of the mobile battery compartment.

9. The tail-seat vector-propelled variable tandem-wing folding inspection drone according to claim 8 is characterized in that: A linear slide rail is arranged inside the shell of the fuselage, and the mobile battery compartment is slidably mounted on the linear slide rail.

10. The tail-seat vector-propelled variable tandem-wing folding inspection drone according to claim 8, characterized in that: The center of gravity adjustment mechanism drives the mobile battery compartment to move along the longitudinal axis of the fuselage through a screw nut mechanism.

Images