Multi-rotor combined type unmanned aerial vehicle

Abstract

The invention provides a multi-rotor combined type unmanned aerial vehicle. The multi-rotor combined type unmanned aerial vehicle comprises a fuselage; the multiple rotor wing assemblies are connected with the fuselage, are arranged in the circumferential direction of the fuselage in a surrounding mode and can provide lift force in the vertical stage and provide thrust in the level flight stage; the wing assemblies are fixed to the two longitudinal sides of the fuselage respectively and can provide lift force in the level flight stage; wherein the rotor assemblies are fixedly arranged relative to the inclination angle of the fuselage. According to the arrangement, through the mode that the rotor wing assemblies and the wing assemblies are matched, the cruising speed is increased, energy consumption is reduced, the flight range is increased, the inclination angle of the rotor wing assemblies relative to the fuselage does not need to be controlled, the control logic is simple, the structure is stable and reliable, the manufacturing cost is saved, and the failure rate is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a multi-rotor composite unmanned aerial vehicle. Background Art

[0002] As the application areas of drones expand, the performance requirements for drones have also increased. Although existing multi-rotor composite drones can achieve vertical take-off and landing, their cruising speed is low and their flight range is short, which cannot meet some long-distance flight needs. Although existing vertical take-off fixed-wing drones can achieve the process of vertical take-off and landing to level flight, the vertical take-off power part does not work during the level flight stage, which increases resistance and weight. The level flight stage requires the rudder of the wing and the tail thrust to cooperate in control. The control and structure are relatively complex, the tail thrust requirements are high, and the load capacity is low. Although the existing tilt-rotor fixed-wing drones can convert the vertical take-off power into tail thrust by tilting the rotor, the control and structure are relatively complex, the manufacturing cost is high, the failure rate is high, and it is not easy to mass produce. Summary of the invention

[0003] In view of this, the present application provides a multi-rotor compound UAV, which has a simple, stable and reliable structure, and is conducive to saving manufacturing costs and reducing failure rates.

[0004] In order to achieve the above objectives, this application provides the following technical solutions:

[0005] A multi-rotor composite unmanned aerial vehicle, comprising:

[0006] body;

[0007] A plurality of rotor assemblies connected to the fuselage and arranged around the circumference of the fuselage, and capable of providing lift in the vertical take-off phase and thrust in the level flight phase;

[0008] A plurality of wing assemblies, respectively fixed to the longitudinal sides of the fuselage and capable of providing lift in a level flight phase;

[0009] Wherein, the inclination angle of the rotor assembly relative to the fuselage is fixed.

[0010] Optionally, the rotation plane of the rotor assembly forms an angle with the plane where the wing assembly is located.

[0011] Optionally, the angle formed by the rotation plane of the rotor assembly and the plane where the wing assembly is located is 8-20 degrees.

[0012] Optionally, only the rotor assembly provides thrust during level flight.

[0013] Optionally, the rotor assemblies are provided in an even number and are mirror-arranged on both longitudinal sides of the fuselage.

[0014] Optionally, the wing assembly is disposed between two adjacent rotor assemblies.

[0015] Optionally, four rotor assemblies are provided, two of which are fixedly connected below the head of the fuselage, and the other two are fixedly connected above the tail of the fuselage.

[0016] Optionally, the rotor assembly comprises:

[0017] A hanging arm, a first end of which is fixedly connected to the fuselage;

[0018] The first propeller and the second propeller are respectively arranged on the upper and lower sides of the second end of the hanging arm.

[0019] Optionally, the axial direction of the first propeller forms an angle with the axial direction of the second propeller, and the distance between the rotation plane of the first propeller and the rotation plane of the second propeller increases in a direction approaching the wing assembly.

[0020] Optionally, the angle formed by the axial direction of the first propeller and the axial direction of the second propeller is 6 degrees.

[0021] The multi-rotor composite UAV provided by the present application only needs to control the rotation speed of the rotor assembly during flight, and does not need to control the inclination angle of the rotor assembly relative to the fuselage. The control logic is simple, the structure is stable and reliable, and it is conducive to saving manufacturing costs and reducing the failure rate. Since the inclination angle of the rotor assembly relative to the fuselage is fixed, during processing, it is not necessary to set a tilting device for controlling the power direction of the rotor assembly on the rotor assembly or between the rotor assembly and the fuselage, and there are fewer circuit connections between the rotor assembly and the fuselage, which can avoid the failure of the tilting device, thereby reducing the risk of the UAV losing control and the difficulty of load balancing, which is conducive to improving the safety of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0023] Figure 1 A perspective view of a multi-rotor composite drone shown in some embodiments;

[0024] Figure 2 A side view of a multi-rotor compound drone shown in some embodiments;

[0025] Figure 3A top view of a multi-rotor compound drone according to some embodiments.

[0026] In the figure: 1, fuselage; 2, rotor assembly; 21, first propeller; 2, second propeller; 23, suspension arm; 3, wing assembly; 31, rudder. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] like Figure 1-Figure 3 As shown, an embodiment of the present application provides a multi-rotor composite UAV, including a fuselage 1, a rotor assembly 2 and a wing assembly 3.

[0029] The rotor assembly 2 is connected to the fuselage 1, and multiple rotor assemblies 2 are arranged around the fuselage 1. When the rotor assembly 2 is running, the multiple rotor assemblies 2 act on the surroundings of the fuselage 1 to ensure the stability of the fuselage 1. Specifically, the rotor assembly 2 can be provided with three, four, five or six.

[0030] There are multiple wing assemblies 3, which are respectively fixed on both sides of the longitudinal direction of the fuselage 1. Here, the longitudinal sides of the fuselage 1 are the left and right sides of the fuselage 1 during the movement. For example, the extension direction of the fuselage 1 is the moving direction, and the extension direction of the fuselage 1 is the longitudinal direction. The longitudinal sides of the fuselage 1 are the two sides of the extension direction of the fuselage 1. Specifically, there can be two or four wing assemblies 3.

[0031] During the flight, when in the vertical take-off stage, the rotor assembly 2 works and provides an upward lift for the fuselage 1 to make the fuselage 1 rise; when in the level flight stage, the rotor assembly 2 works and provides forward thrust and upward lift for the fuselage 1. At the same time, a pressure difference is generated between the upper and lower surfaces of the wing assembly 3 and provides an upward lift for the fuselage 1. In this way, the wing assembly 3 is added on the basis of the multi-rotor UAV. Through the coordination of the rotor assembly 2 and the wing assembly 3, it is beneficial to improve the cruising speed, reduce energy consumption and increase the flight range, thereby meeting some long-distance flight requirements.

[0032] It should be noted that the power system of the UAV may only have a rotor assembly 2 (without a tail thrust structure), so that only multiple rotor assemblies 2 provide forward thrust for the fuselage 1 during the level flight phase. By omitting the tail thrust structure, the structure of the UAV is further simplified and the manufacturing cost is reduced.

[0033] Among them, the inclination angle of the rotor assembly 2 relative to the fuselage 1 is fixedly set so that the power direction generated by the rotor assembly 2 is fixed relative to the fuselage 1. During the flight, when in the vertical take-off stage, the power direction of the rotor assembly 2 is downward, and provides an upward lift for the fuselage 1; when in the level flight stage, the power direction of the rotor assembly 2 is downward and backward, and provides an upward lift and forward thrust for the fuselage 1; when the vertical take-off stage is converted into the level flight stage, the attitude of the UAV (including the fuselage 1, the rotor assembly 2 and the wing assembly 3) can be adjusted by controlling the rotation speed of each rotor assembly 2, so that the UAV tilts with the power direction of the rotor assembly 2. In this way, during the flight, only the rotation speed of the rotor assembly 2 needs to be controlled, and the inclination angle of the rotor assembly 2 relative to the fuselage 1 does not need to be controlled. The control logic is simple, the structure is stable and reliable, and it is conducive to saving manufacturing costs and reducing failure rates.

[0034] It should be noted that since the inclination angle of the rotor assembly 2 relative to the fuselage 1 is fixed, during processing, there is no need to set a tilt device on the rotor assembly 2 or between the rotor assembly 2 and the fuselage 1 for controlling the power direction of the rotor assembly 2. In addition, there are fewer circuit connections between the rotor assembly 2 and the fuselage 1, which can avoid failure of the tilt device, thereby reducing the risk of UAV loss of control and the difficulty of load balance, which is beneficial to improving the safety of the UAV.

[0035] In this way, a wing assembly 3 is added to the multi-rotor UAV. The coordination between the rotor assembly 2 and the wing assembly 3 is beneficial to improving the cruising speed, reducing energy consumption and increasing the flight range. In addition, there is no need to control the inclination angle of the rotor assembly 2 relative to the fuselage 1. The control logic is simple and the structure is stable and reliable, which is beneficial to saving manufacturing costs and reducing failure rates.

[0036] Of course, the control surface 31 of the wing assembly 3 can also be fixed so that the wing assembly 3 does not participate in flight control. In this way, the connection between the wing assembly 3 and the fuselage 1 is only a fixed connection, and there is no movable connection or circuit connection. This can make the structure of the wing assembly 3 simple and reliable, which is conducive to saving manufacturing costs and reducing failure rates.

[0037] It should be noted that since the control surface 31 of the wing assembly 3 is fixed, during processing, there is no need to set an adjustment device for adjusting the angle of the control surface 31 on the wing assembly 3 or the fuselage 1, which can avoid failure of the adjustment device, thereby reducing the risk of UAV loss of control and the difficulty of load balance, which is conducive to improving the safety of the UAV.

[0038] In this solution, an even number of rotor assemblies 2 are provided, such as four, six or eight, and the rotor assemblies 2 are mirror-imaged on both longitudinal sides of the fuselage 1. When the fuselage 1 is moving, the number of rotor assemblies 2 on the left and right sides of the fuselage 1 are equal and symmetrically arranged, which can maintain a good balance performance of the fuselage 1 in the left and right directions and improve the flight speed and range.

[0039] The wing assembly 3 is arranged between two adjacent rotor assemblies 2 so that the wing assembly 3 is close to the middle of the fuselage 1, so that the fuselage 1 can maintain a good balance performance in the front and rear directions.

[0040] In the specific solution, four rotor assemblies 2 are provided, two wing assemblies 3 are provided, two rotor assemblies 2 and one wing assembly 3 are provided on both longitudinal sides of the fuselage 1, and the wing assembly 3 is located between the two rotor assemblies 2. In this way, the structure is simple and reliable, easy to process and manufacture, and the cost is low. Figure 2 As shown, among the two rotor assemblies 2, one rotor assembly 2 is fixedly connected to the bottom of the head of the fuselage 1, and the other rotor assembly 2 is connected to the top of the tail of the fuselage 1, and the wing assembly 3 is connected to the middle of the fuselage 1. By setting the position of the hanging arms 23 of the two rotor assemblies 2, the rotor assembly 2 can be kept away from the wing assembly 3 to the greatest extent, and the interference of the rotor assembly 2 on the wing assembly 3 can be reduced, so as to improve the operating stability of the UAV.

[0041] In some embodiments, the rotation plane of the rotor assembly 2 forms an angle with the plane where the wing assembly 3 is located, so that the rotation plane of the rotor assembly 2 and the plane where the wing assembly 3 is located are in a non-parallel state. Since the rotation plane of the rotor assembly 2 is perpendicular to the power direction, the lift direction generated by the wing assembly 3 is perpendicular to the plane where it is located, thereby making the power direction of the rotor assembly 2 and the lift direction of the wing assembly 3 in a non-parallel state (there is an angle). In this way, when in the level flight stage, the rotor assembly 2 outputs power and forms a force on the fuselage 1, and the force can be decomposed into upward lift and forward thrust. At the same time, the wing assembly 3 will also provide lift for the fuselage 1. By adjusting the attitude of the UAV, the lift direction of the wing assembly 3 can be made consistent with the lift direction of the rotor assembly 2, which can not only increase the load of the UAV, but also avoid reducing the interference between the wing assembly 3 and the rotor assembly 2, thereby improving the operating stability of the UAV.

[0042] Specifically, the angle formed by the rotation plane of the rotor assembly 2 and the plane where the wing assembly 3 is located is in the range of 8-20 degrees, preferably 10 degrees. In the level flight stage, if the wing assembly 3 is tilted upward at an excessively large angle, it will form resistance in the forward direction, and if the wing assembly 3 is tilted downward at an excessively large angle, it will form resistance in the lift direction. By designing the angle range, the lift and thrust of the rotor assembly 2 can be matched with the lift of the wing assembly 3, so that the UAV has a better speed, range and load.

[0043] It should be noted that the rotation plane of the above-mentioned rotor assembly 2 is the rotation plane of the propeller of the rotor assembly 2. When the rotor assembly 2 has one propeller, the rotation plane is the plane on which the propeller rotates. When the rotor assembly 2 has multiple propellers, the rotation plane is the average value of the planes on which the multiple propellers rotate.

[0044] like Figure 2-3 As shown, the rotor assembly 2 includes a hanging arm 23, a first propeller 21 and a second propeller 22, wherein the hanging arm 23 has a first end and a second end, the first end of the hanging arm 23 is fixedly connected to the fuselage 1, and the second end of the hanging arm 23 is connected to the first propeller 21 and the second propeller 22, and then through the connection of the hanging arm 23, the first propeller 21 and the second propeller 22 are connected relative to the fuselage 1 and are arranged away from the fuselage 1. The first propeller 21 and the second propeller 22 are respectively arranged on the upper and lower sides of the second end of the hanging arm 23, so that the rotation plane of the first propeller 21 and the rotation plane of the second propeller 22 are layered and spaced, so that the interference between the first propeller 21 and the second propeller 22 can be avoided, and the power of the rotor assembly 2 can be improved.

[0045] Specifically, a first motor and a second motor are provided at the second end of the hanging arm 23. The first motor is connected to the first propeller 21 through the rotor shaft and can drive the first propeller 21 to rotate relative to the hanging arm 23. The second motor is connected to the second propeller 22 through the rotor shaft and can drive the second propeller 22 to rotate relative to the hanging arm 23.

[0046] Among them, the axial direction of the first propeller 21 and the axial direction of the second propeller 22 form an angle (specifically, the angle is set to 6 degrees to avoid affecting the balance and stability of the rotor assembly 2 itself), so that the rotation plane of the first propeller 21 and the rotation plane of the second propeller 22 form an angle, and the spacing between the rotation plane of the first propeller 21 and the rotation plane of the second propeller 22 increases in the direction close to the wing assembly 3. In this way, during the flight, the spacing between the rotation plane of the first propeller 21 and the rotation plane of the second propeller 22 is larger on the side close to the wing assembly 3 and smaller on the side away from the wing assembly 3, which can increase the control ability of the rotor assembly 2 over the fuselage 1 and reduce the influence of the downward airflow formed by the first propeller 21 and the second propeller 22 on the wing assembly 3.

[0047] In two adjacent rotor assemblies 2 located on the same side of the fuselage 1, the hanging arms 23 of the two rotor assemblies 2 are arranged in parallel so that the two hanging arms 23 are in the same plane, and the angle formed by the plane where the two hanging arms 23 are located and the plane where the wing assembly 3 is located is 8-20 degrees. In this way, the rotation planes of the propellers of the two adjacent rotor assemblies 2 can be made close to parallel, further increasing the control ability of the fuselage 1 and reducing the interference with the wing assembly 3.

[0048] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0049] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0050] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0051] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0052] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly explain the technical solutions and cannot be used to limit the scope of protection of the present application.

[0053] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A multi-rotor composite UAV, characterized in that: include: body; A plurality of rotor assemblies connected to the fuselage and arranged around the circumference of the fuselage, and capable of providing lift in the vertical take-off phase and thrust in the level flight phase; A plurality of wing assemblies, respectively fixed to the longitudinal sides of the fuselage and capable of providing lift in a level flight phase; Wherein, the inclination angle of the rotor assembly relative to the fuselage is fixed.

2. The multi-rotor composite UAV according to claim 1, characterized in that: The rotation plane of the rotor assembly forms an angle with the plane where the wing assembly is located.

3. The multi-rotor composite UAV according to claim 2, characterized in that: The angle formed by the rotation plane of the rotor assembly and the plane where the wing assembly is located is 8-20 degrees.

4. The multi-rotor composite UAV according to claim 1, characterized in that: Only the rotor assembly provides thrust during level flight.

5. The multi-rotor composite UAV according to claim 1, characterized in that: The rotor assemblies are provided in an even number and are mirror-imaged on both longitudinal sides of the fuselage.

6. The multi-rotor composite UAV according to claim 5, characterized in that: The wing assembly is arranged between two adjacent rotor assemblies.

7. The multi-rotor composite UAV according to claim 6, characterized in that: There are four rotor assemblies, two of which are fixedly connected below the head of the fuselage, and the other two are fixedly connected above the tail of the fuselage.

8. The multi-rotor composite UAV according to claim 1, characterized in that: The rotor assembly comprises: A hanging arm, a first end of which is fixedly connected to the fuselage; The first propeller and the second propeller are respectively arranged on the upper and lower sides of the second end of the hanging arm.

9. The multi-rotor composite UAV according to claim 8, characterized in that: The axial direction of the first propeller forms an angle with the axial direction of the second propeller, and the distance between the rotation plane of the first propeller and the rotation plane of the second propeller increases in a direction approaching the wing assembly.

10. The multi-rotor composite UAV according to claim 9, characterized in that: The angle formed by the axial direction of the first propeller and the axial direction of the second propeller is 6 degrees.

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