Double-fixed-wing quad-rotor unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and provides a double-fixed-wing four-rotor unmanned aerial vehicle which comprises a vehicle body, four flexible wings are fixedly connected to the two sides of the vehicle body correspondingly, the ends, away from the vehicle body, of the four flexible wings are fixedly connected with two racks, and the two racks are arranged in parallel; rotor wings are fixedly connected to the two ends of the two racks, driving assemblies are arranged in the flexible wings, and adjusting assemblies are arranged on one sides of the driving assemblies. By integrating the electric gripper, the first rack and the first gear linkage separation mechanism, cooperative operation of logistics transportation and flight control is achieved, when a gripping task is executed, an L rod and a second gear automatically decouple connection of the first rack and the first gear, it is ensured that a first extension plate is maintained in an expansion state to provide continuous lifting force, load unbalance is avoided, and the safety of logistics transportation is improved. And meanwhile, the loading capacity is improved, and diversified requirements of emergency material delivery, field equipment transportation and the like are met.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and more specifically to a dual fixed-wing quadrotor unmanned aerial vehicle. Background Art

[0002] With the rapid development of unmanned aerial vehicle technology, the application requirements in fields such as disaster rescue, agricultural monitoring, and logistics transportation are increasing day by day.

[0003] However, its characteristic of relying on runways for takeoff and landing limits the application scenarios in complex environments. At the same time, quadrotor unmanned aerial vehicles, with their vertical takeoff and landing (VTOL) capabilities, low-speed hovering, and flexible maneuverability, demonstrate irreplaceable value in scenarios such as narrow indoor and outdoor spaces and urban emergency rescue, but they have the defect of weak load capacity. Summary of the Invention

[0004] The present invention provides a dual fixed-wing quadrotor unmanned aerial vehicle. By driving the sawtooth groove deformation mechanism of the flexible wing through a motor, and combining the elasticity and strength characteristics of shape memory metal materials, real-time dynamic regulation of the wing curvature is achieved. During flight, the bending amplitudes of the leading edge and trailing edge of the wing are controlled through a linkage system of Linkage One, Linkage Two, and Linkage Three, generating local pressure differences according to airflow conditions or instructions, and flexibly adjusting the lift distribution and flight attitude. At the same time, a push rod pushes an extension plate one to expand the windward area of the wing, enhancing the lift and optimizing the lift-to-drag ratio. This design breaks through the aerodynamic limitations of traditional rigid wings, can autonomously adjust the wing surface shape in complex airflow environments, significantly enhances flight stability and energy efficiency, and is suitable for scenarios such as high-precision aerial surveying and disaster reconnaissance to solve the problems raised in the background art.

[0005] The technical solution of the present invention is as follows:

[0006] A dual fixed-wing quadrotor unmanned aerial vehicle, comprising: a fuselage, on both sides of which are respectively fixedly connected with four flexible wings. One end of each of the four flexible wings far from the fuselage is fixedly connected with a frame. There are two frames in total. At both ends of the two frames are fixedly connected with rotors. A driving component is arranged inside the flexible wing, and an adjusting component is arranged on one side of the driving component;

[0007] An L-shaped groove is opened at the bottom of the fuselage.

[0008] Furthermore, a plurality of sawtooth grooves are opened on the flexible wing. Two groups of sawtooth grooves are distributed at the head of the flexible wing, and two groups of sawtooth grooves are also distributed at the tail. Fixed blocks are fixedly connected to both ends inside the flexible wing. Through slots one and two are opened at both ends of the flexible wing, and the through slot one and the through slot two are connected through a square slot one.

[0009] Furthermore, the flexible wing is made of shape memory alloy material both in the serrated groove part and around the serrated groove, which has both high strength and low density. While reducing the structural weight of the flexible wing, it ensures reliability, meets the requirements of the UAV for lightweight and high energy efficiency, and can adapt to the real-time adjustment of the bending angle of the trailing edge or leading edge in the serrated groove part to optimize the lift-drag ratio.

[0010] Furthermore, the drive assembly includes a motor fixedly connected inside the flexible wing. The output end of the motor is fixedly connected with a rotating shaft, and a first connecting rod is fixedly connected to the rotating shaft. The top of the first connecting rod is rotatably connected with a second connecting rod, and the end of the second connecting rod away from the first connecting rod is rotatably connected to the fixed block at the head of the flexible wing. The bottom of the first connecting rod is rotatably connected with a third connecting rod, and the end of the third connecting rod away from the first connecting rod is rotatably connected to the fixed block at the tail of the flexible wing. When the UAV is flying in the sky, the staff can start the motor to drive the first connecting rod to rotate, drive the second connecting rod and the third connecting rod to rotate synchronously. The second connecting rod and the third connecting rod pull the two ends of the flexible wing, and the flexible wing shows slight twists through the serrated grooves at both ends, so as to flexibly adjust the pressure difference and control the flight height and attitude.

[0011] Furthermore, the adjustment assembly includes a first gear fixedly connected to the rotating shaft. A first rack and a second rack are respectively arranged on both sides of the first gear. Both the first rack and the second rack are meshed with the first gear. Push rods are arranged on both the first rack and the second rack. The push rods are in an inclined state. The ends of the push rods away from the first rack and the second rack are respectively fixedly connected with a first extension plate. The first extension plate is slidably connected in the first through groove. When the rotating shaft rotates, it drives the first gear to rotate. The first gear drives the first rack and the second rack to slide in the flexible wing in opposite directions, driving the push rods connected thereto to move synchronously. Since the push rods are in an inclined state, when the push rods push the first extension plate to move outward, the first extension plate tilts and moves outward toward the outside of the flexible wing, thereby increasing the wing camber, delaying the airflow separation, and increasing the lift coefficient.

[0012] Furthermore, a second extension plate is slidably connected in the second through groove. A fixed plate is fixedly connected between the first extension plate and the second extension plate. When the first extension plate slides outward, the second extension plate is synchronously driven to slide out through the fixed plate. The fixed plate is slidably connected in the first square groove.

[0013] Furthermore, square grooves are formed at the parts where the first rack and the second rack are connected to the push rods. A convex block is fixedly connected to the push rod. The convex block is slidably connected in the square groove. When the first rack moves upward, the convex block slides in the square groove, so that the first rack disengages from the engagement with the first gear, realizing the lift maintenance mode and avoiding the rebound interference of the adjustment assembly.

[0014] Furthermore, a fixing rod is fixedly connected to the top of the first rack. One end of the fixing rod away from the first rack extends into the L-shaped groove, and a first engaging tooth is fixedly connected to this end of the fixing rod. There are several first engaging teeth. A second gear is arranged on one side of the first engaging teeth. The second gear is rotatably connected in the L-shaped groove. The first engaging teeth are engaged with the second gear. An L-shaped rod is slidably connected in the L-shaped groove on the side of the second gear away from the first engaging teeth. One end of the L-shaped rod is fixedly connected to a second engaging tooth. There are several second engaging teeth which are engaged with the second gear. The end of the L-shaped rod away from the second engaging tooth is fixedly connected to an electric gripper.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention drives the sawtooth groove deformation mechanism of the flexible wing through a motor, combines the elasticity and strength characteristics of the shape memory metal material, realizes the real-time dynamic regulation of the wing curvature. During flight, the bending amplitudes of the leading edge and the trailing edge of the wing are controlled through the linkage system of the first connecting rod, the second connecting rod and the third connecting rod. According to the airflow conditions or instructions, a local pressure difference is generated, and the lift distribution and flight attitude are flexibly adjusted. At the same time, the push rod pushes the first extension plate to expand the windward area of the wing, improves the lift and optimizes the lift-drag ratio. This design breaks through the aerodynamic limitations of traditional rigid wings, can autonomously adjust the wing surface shape in a complex airflow environment, significantly enhances the flight stability and energy efficiency, and is applicable to scenarios such as high-precision aerial survey and disaster reconnaissance.

[0017] 2. The present invention realizes the coordinated operation of logistics transportation and flight control by integrating the electric gripper with the linkage separation mechanism of the first rack and the first gear. When performing the grasping task, the L-shaped rod and the second gear automatically decouple the connection between the first rack and the first gear, ensuring that the first extension plate maintains the expanded state to provide continuous lift, avoiding load imbalance, and at the same time enhancing the load capacity, which is applicable to diversified requirements such as emergency material delivery and field equipment transportation. Description of the Drawings

[0018] Figure 1 is the three-dimensional view of the device of the present invention;

[0019] Figure 2 is the structural diagram of the device of the present invention;

[0020] Figure 3 is the sectional view of the device of the present invention;

[0021] Figure 4 is the structural diagram of the second square groove of the device of the present invention;

[0022] Figure 5 is the structural diagram of the driving component of the device of the present invention;

[0023] Figure 6 is the present invention Figure 2 enlarged view at A in;

[0024] Figure 7 is the enlarged view at position B in the present invention Figure 2 ;

[0025] Figure 8 is the enlarged view at position C in the present invention Figure 3 ;

[0026] In the figure:

[0027] 1, fuselage; 11, L groove; 2, flexible wing; 21, serrated groove; 22, fixed block; 23, first through groove; 24, second through groove; 25, first square groove; 3, frame; 4, rotor; 5, drive assembly; 51, motor; 52, rotating shaft; 53, first connecting rod; 54, second connecting rod; 55, third connecting rod; 6, adjustment assembly; 61, first gear; 62, first rack; 621, second square groove; 622, convex block; 63, second rack; 631, fixed rod; 632, first engaging tooth; 633, second gear; 634, L rod; 635, second engaging tooth; 636, electric gripper; 64, push rod; 65, first extension plate; 66, second extension plate; 67, fixing plate Detailed implementation manners

[0028] The following further describes in detail the implementation manners of the present invention in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention

[0029] As Figures 1-8 shown, the present invention provides a dual-fixed-wing quad-rotor UAV, including: a fuselage 1, on both sides of the fuselage 1 are respectively fixedly connected with four flexible wings 2, at the ends of the four flexible wings 2 away from the fuselage 1 are fixedly connected with frames 3, there are two frames 3 in total, at both ends of the two frames 3 are fixedly connected with rotors 4, inside the flexible wings 2 is provided with a drive assembly 5, and on one side of the drive assembly 5 is provided with an adjustment assembly 6

[0030] The bottom of the fuselage 1 is provided with an L groove 11

[0031] As a technical solution of the present invention, the flexible wing 2 is provided with a plurality of serrated grooves 21, two groups of serrated grooves 21 are distributed at the head of the flexible wing 2, and two groups of serrated grooves 21 are also distributed at the tail, both ends inside the flexible wing 2 are fixedly connected with fixed blocks 22, both ends of the flexible wing 2 are provided with a first through groove 23 and a second through groove 24, and the first through groove 23 and the second through groove 24 are connected through a first square groove 25

[0032] As a technical solution of the present invention, the flexible wing 2 is made of shape memory metal in the serrated groove 21 part and around the serrated groove 21, which has both high strength and low density. While reducing the structural weight of the flexible wing 2, it ensures reliability, meets the requirements of the unmanned aerial vehicle for lightweight and high energy efficiency, and at the same time can adapt to the real-time adjustment of the bending angle of the trailing edge or leading edge in the serrated groove 21 part to optimize the lift-drag ratio.

[0033] As a technical solution of the present invention, the driving assembly 5 includes a motor 51 fixedly connected inside the flexible wing 2. The output end of the motor 51 is fixedly connected with a rotating shaft 52. A connecting rod one 53 is fixedly connected to the rotating shaft 52. The top of the connecting rod one 53 is rotatably connected with a connecting rod two 54. One end of the connecting rod two 54 away from the connecting rod one 53 is rotatably connected to the fixed block 22 at the head of the flexible wing 2. The bottom of the connecting rod one 53 is rotatably connected with a connecting rod three 55. One end of the connecting rod three 55 away from the connecting rod one 53 is rotatably connected to the fixed block 22 at the tail of the flexible wing 2. When the unmanned aerial vehicle is flying in the sky, the staff can start the motor 51 to drive the connecting rod one 53 to rotate, drive the connecting rod two 54 and the connecting rod three 55 to rotate synchronously. The connecting rod two 54 and the connecting rod three 55 pull both ends of the flexible wing 2, and the flexible wing 2 shows slight twists through the serrated grooves 21 at both ends, so as to flexibly adjust the pressure difference and control the flight height and attitude.

[0034] As a technical solution of the present invention, the adjusting assembly 6 includes a gear one 61 fixedly connected to the rotating shaft 52. On both sides of the gear one 61, there are a rack one 62 and a rack two 63 respectively. Both the rack one 62 and the rack two 63 are meshed with the gear one 61. Push rods 64 are arranged on both the rack one 62 and the rack two 63. The push rods 64 are in an inclined state. One ends of the push rods 64 away from the rack one 62 and the rack two 63 are respectively fixedly connected with extension plates one 65. The extension plates one 65 are slidably connected in the through groove one 23. The rotation of the rotating shaft 52 drives the gear one 61 to rotate. The gear one 61 drives the rack one 62 and the rack two 63 to slide in the flexible wing 2 in opposite directions, driving the connected push rods 64 to move synchronously. Since the push rods 64 are in an inclined state, when the push rods 64 push the extension plates one 65 to move outward, the extension plates one 65 tilt and move outward towards the outside of the flexible wing 2, thereby increasing the wing camber, delaying the airflow separation, and increasing the lift coefficient.

[0035] As a technical solution of the present invention, an extension plate two 66 is slidably connected in the through groove two 24. A fixing plate 67 is fixedly connected between the extension plate one 65 and the extension plate two 66. When the extension plate one 65 slides outward, the extension plate two 66 is synchronously driven to slide outwards through the fixing plate 67. The fixing plate 67 is slidably connected in the square groove one 25.

[0036] As a technical solution of the present invention, square grooves II 621 are provided at the parts where the first rack 62 and the second rack 63 are connected to the push rod 64. A convex block 622 is fixedly connected to the push rod 64, and the convex block 622 is slidably connected in the square groove II 621. When the first rack 62 moves upward, the convex block 622 slides in the square groove II 621, so that the first rack 62 is disengaged from the engagement with the first gear 61, realizing the lift maintenance mode and avoiding the rebound interference of the adjusting assembly 6.

[0037] As a technical solution of the present invention, a fixing rod 631 is fixedly connected to the top of the first rack 62. One end of the fixing rod 631 away from the first rack 62 extends into the L groove 11, and a first engaging tooth 632 is fixedly connected to this end of the fixing rod 631. A plurality of first engaging teeth 632 are provided. A second gear 633 is arranged on one side of the first engaging tooth 632. The second gear 633 is rotatably connected in the L groove 11. The first engaging tooth 632 is engaged with the second gear 633. An L rod 634 is slidably connected in the L groove 11 on the side of the second gear 633 away from the first engaging tooth 632. A second engaging tooth 635 is fixedly connected to one end of the L rod 634. A plurality of second engaging teeth 635 are provided and are engaged with the second gear 633. An electric gripper 636 is fixedly connected to the end of the L rod 634 away from the second engaging tooth 635;

[0038] When logistics transportation is required, the staff pulls out the electric gripper 636 from the L groove 11 and firmly grasps the object through the electric gripper 636. At the same time, when the staff pulls the electric gripper 636, the electric gripper 636 drives the L rod 634 to move downward synchronously in the L groove 11. One end of the L rod 634 provided with the second engaging tooth 635 slides on the second gear 633 and drives the second gear 633 to rotate. The rotation of the second gear 633 drives the first engaging tooth 632 to move in the L groove 11 in the direction opposite to that of the second engaging tooth 635 and drives the fixing rod 631 to move synchronously. The fixing rod 631 pulls the first rack 62 to move upward, thereby driving the first rack 62 to be separated from the first gear 61. At this time, the first extension plate 65 connected to the first rack 62 has extended out, so that when the first gear 61 rotates, it will not drive the first extension plate 65 to retract, and thus the first extension plate 65 always provides lift for the flexible wing 2.

[0039] Working principle:

[0040] As Figure 1 and Figure 5 as well as Figure 8As shown in the figure, first, when the UAV takes off, the motor 51 is started. The motor 51 drives the rotating shaft 52 to rotate, driving the first connecting rod 53 to rotate synchronously. Through the second connecting rod 54 and the third connecting rod 55, the fixing blocks 22 at the head and tail of the flexible wing 2 are respectively pulled. This linkage forces both ends of the flexible wing 2 to produce controllable bending deformation along the serrated groove 21, forming a local pressure difference to flexibly control the flight altitude and pitch / roll attitude. Since the flexible wing 2 uses high-strength and low-density memory metal in the serrated groove 21 part and its periphery, with both lightweight and controllable deformation, when an external airflow or the driving component 5 applies a force, the serrated groove 21 area can bend according to the preset shape or real-time command to dynamically adjust the curvature of the leading edge / trailing edge of the wing and optimize the lift-to-drag ratio.

[0041] As Figures 2-4 and Figures 6-7 shown in the figure, then, the rotating shaft 52 drives the first gear 61 to rotate, driving the two side racks 62 and 63 to slide in opposite directions; the push rod 64 pushes the first extension plate 65 to move outwards along the first through groove 23 at an inclined angle, increasing the camber of the outer side of the wing; simultaneously, through the fixed plate 67, the second extension plate 66 is linked to slide out of the second through groove 24 to further expand the effective windward area of the wing and maximize the lift output; when logistics transportation is required, the staff pulls the electric gripper 636 out of the L groove 11 and firmly grasps the object through the electric gripper 636. At the same time, when the staff pulls the electric gripper 636, the electric gripper 636 drives the L rod 634 to move downwards synchronously in the L groove 11. One end of the L rod 634 provided with the second engaging teeth 635 slides on the second gear 633 and drives the second gear 633 to rotate. The rotation of the second gear 633 drives the first engaging teeth 632 to move in the L groove 11 in the direction opposite to the second engaging teeth 635 and drives the fixed rod 631 to move synchronously. The fixed rod 631 pulls the rack 62 upwards, further driving the rack 62 to separate from the gear 61. At this time, the first extension plate 65 connected to the rack 62 has extended, so that when the gear 61 rotates, it will not drive the first extension plate 65 to retract, and thus the first extension plate 65 realizes the lift maintenance mode.

[0042] The embodiments of the present invention are given for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A dual-fixed-wing quadcopter drone, comprising: Airframe (1), characterized in that: four flexible wings (2) are fixedly connected to both sides of the airframe (1) respectively, a frame (3) is fixedly connected to one end of the four flexible wings (2) away from the airframe (1), two frames (3) are provided in total, rotors (4) are fixedly connected to both ends of the two frames (3), a driving component (5) is arranged inside the flexible wing (2), and an adjusting component (6) is arranged on one side of the driving component (5); An L-groove (11) is opened at the bottom of the airframe (1).

2. The dual fixed-wing quadrotor UAV according to claim 1, wherein: A plurality of sawtooth grooves (21) are opened on the flexible wing (2), two groups of sawtooth grooves (21) are distributed at the head of the flexible wing (2), and two groups of sawtooth grooves (21) are also distributed at the tail. Fixed blocks (22) are fixedly connected to both ends inside the flexible wing (2). Through grooves one (23) and through grooves two (24) are opened at both ends of the flexible wing (2), and the through groove one (23) and the through groove two (24) are connected through a square groove one (25).

3. The dual-fixed-wing quadrotor UAV according to claim 2, wherein: The flexible wing (2) is made of shape memory metal material at the part of the sawtooth groove (21) and around the sawtooth groove (21).

4. The dual-fixed-wing quadrotor UAV according to claim 2, wherein: The driving component (5) includes a motor (51) fixedly connected inside the flexible wing (2), a rotating shaft (52) is fixedly connected to the output end of the motor (51), a connecting rod one (53) is fixedly connected to the rotating shaft (52), a connecting rod two (54) is rotatably connected to the top of the connecting rod one (53), and one end of the connecting rod two (54) away from the connecting rod one (53) is rotatably connected to the fixed block (22) at the head of the flexible wing (2). A connecting rod three (55) is rotatably connected to the bottom of the connecting rod one (53), and one end of the connecting rod three (55) away from the connecting rod one (53) is rotatably connected to the fixed block (22) at the tail of the flexible wing (2).

5. The dual-fixed-wing quadrotor UAV according to claim 4, characterized in that: The adjusting component (6) includes a gear one (61) fixedly connected to the rotating shaft (52), a rack one (62) and a rack two (63) are respectively arranged on both sides of the gear one (61), both the rack one (62) and the rack two (63) are meshed with the gear one (61), push rods (64) are arranged on both the rack one (62) and the rack two (63), the push rods (64) are in an inclined state, and extension plates one (65) are fixedly connected to one ends of the push rods (64) away from the rack one (62) and the rack two (63). The extension plates one (65) are slidably connected in the through groove one (23).

6. The dual-fixed-wing quadrotor UAV according to claim 5, wherein: An extension plate two (66) is slidably connected in the through groove two (24), a fixing plate (67) is fixedly connected between the extension plate one (65) and the extension plate two (66), and the fixing plate (67) is slidably connected in the square groove one (25).

7. The dual-fixed-wing quadrotor UAV according to claim 5, wherein: Square grooves II (621) are formed at the parts where the first rack (62) and the second rack (63) are connected to the push rod (64). A convex block (622) is fixedly connected to the push rod (64), and the convex block (622) is slidably connected in the square groove II (621).

8. The dual-fixed-wing quadrotor UAV according to claim 5, characterized in that: A fixing rod (631) is fixedly connected to the top of the first rack (62). One end of the fixing rod (631) away from the first rack (62) extends into the L-shaped groove (11), and a first engaging tooth (632) is fixedly connected to this end of the fixing rod (631). A plurality of the first engaging teeth (632) are provided. A second gear (633) is arranged on one side of the first engaging tooth (632). The second gear (633) is rotatably connected in the L-shaped groove (11). The first engaging tooth (632) meshes with the second gear (633). An L-shaped rod (634) is slidably connected in the L-shaped groove (11) on the side of the second gear (633) away from the first engaging tooth (632). One end of the L-shaped rod (634) is fixedly connected to a second engaging tooth (635). A plurality of the second engaging teeth (635) are provided and mesh with the second gear (633). An electric gripper (636) is fixedly connected to the end of the L-shaped rod (634) away from the second engaging tooth (635).

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