A compound wing unmanned aerial vehicle capable of vertical takeoff

Abstract

This invention discloses a compound-wing unmanned aerial vehicle (UAV) capable of vertical takeoff, belonging to the field of UAV technology. It includes a fuselage, a first wing, a second wing, and a tail fin. The fuselage houses a power supply module and a control module. Ailerons are mounted on both the first and tail fins and are electrically connected to the control module. A second drive device is mounted on the fuselage, and a third drive device is mounted on the second wing. The first and second wings are rotatably connected. A counterweight wing is mounted on the second wing and is rotatably connected to the fuselage. The first drive device drives the first wing to flexibly adjust its angle within the range of -10° to 45° via a push rod. Combined with precise control from the main control board, the first wing can increase its takeoff angle in strong winds and automatically return to center using aerodynamic characteristics, effectively resisting external disturbances such as crosswinds and turbulence, and reducing the risk of rollover.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a compound-wing UAV capable of vertical takeoff. Background Technology

[0002] Compound-wing UAVs combine the vertical takeoff and landing flexibility of multi-rotor UAVs with the horizontal cruising efficiency of fixed-wing UAVs. They require no dedicated runways and are suitable for various scenarios such as urban logistics, aerial reconnaissance, and emergency rescue, making them one of the mainstream configurations in the industrial-grade UAV field. With the continuous expansion of application scenarios, the market is placing higher demands on the flight stability, anti-interference capabilities, mode switching smoothness, and structural reliability of compound-wing UAVs.

[0003] Currently, existing vertical takeoff compound wing UAVs still face numerous technical bottlenecks, making it difficult to meet operational needs in complex environments. Traditional compound wing UAVs mostly have fixed wing structures, and their aerodynamic configuration cannot be dynamically adjusted according to flight conditions. When encountering complex airflows such as strong winds and crosswinds, they are prone to attitude instability and rollover risks, and their anti-interference capabilities are insufficient. Some foldable wing compound wing UAVs have complex wing folding mechanisms, and abrupt changes in aerodynamic drag during mode switching can easily generate airflow disturbances, affecting flight smoothness. Furthermore, the sealing protection at the folding points is inadequate, which can easily lead to airflow leakage during high-speed cruise, reducing aerodynamic efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a compound wing unmanned aerial vehicle (UAV) capable of vertical takeoff. The first drive device drives the first wing to flexibly adjust its angle within the range of -10° to 45° via a push rod. With the precise control of the main control board, the first wing can increase its rise angle when encountering strong winds and automatically return to center using aerodynamic characteristics, effectively resisting external disturbances such as crosswinds and turbulence, and reducing the risk of tipping over.

[0005] This invention is achieved through the following technical solution: This invention relates to a compound-wing unmanned aerial vehicle (UAV) capable of vertical takeoff, comprising: a fuselage, a first wing, a second wing, and a tail fin. The fuselage houses a power supply module and a control module. Ailerons are mounted on both the first and tail fins and are electrically connected to the control module. A second drive device is mounted on the fuselage, and a third drive device is mounted on the second wing. The first and second wings are rotatably connected. A counterweight wing is mounted on the second wing and rotatably connected to the fuselage. A support structure is fixedly connected internally to the fuselage. The support plate has a first driving device on its upper surface. The first driving device has two output ends. A top rod is fixedly connected to the output end of the first driving device. The top rod is rotatably connected to the first wing. The first driving device is electrically connected to the control module. The fuselage has a movable hole. The first wing is located inside the movable hole. A flexible skin is provided at the movable hole. An elastic tensioning device is fixedly connected to the outer surface of the support plate. The output end of the elastic tensioning device is fixedly connected to the flexible skin. The flexible skin is fixedly connected to the skin on the first wing.

[0006] Furthermore, the power supply module is specifically a battery, which is detachably connected inside the device body.

[0007] Furthermore, the control module is specifically a control motherboard, which is fixedly connected inside the machine body and electrically connected to the battery.

[0008] Furthermore, the first driving device includes: a miniature hydraulic cylinder and a top telescopic rod. The miniature hydraulic cylinder is fixedly connected to the upper surface of the support plate, and the output end of the hydraulic cylinder is fixedly connected to the top telescopic rod. There are two top telescopic rods, which are rotatably connected to the two first wings respectively.

[0009] Furthermore, the second driving device includes a drive motor and a propeller. The drive motor is fixedly connected to the tail end of the fuselage and electrically connected to the control motherboard. The output end of the drive motor is fixedly connected to the propeller.

[0010] Furthermore, the third drive device includes a brushless motor and a lifting blade. The brushless motor is fixedly connected to the outer surface of the second wing, and the output end of the brushless motor is fixedly connected to the lifting blade.

[0011] Furthermore, the elastic tensioning device includes: a buffer block, a tension spring, and a stabilizing telescopic rod. The buffer block is fixedly connected to the flexible skin, and the tension spring and the stabilizing telescopic rod are both fixedly connected to the buffer block. The buffer block is made of lightweight rubber.

[0012] Furthermore, the control motherboard includes: a main control processor module, a sensor integration module, a satellite positioning module, an attitude calculation and inertial navigation module, a power drive control module, a communication module, a power management module, an I / O module, a remote control signal receiving and processing module, a data storage and log module, and a safety protection and fault diagnosis module.

[0013] Furthermore, the operating angle of the first wing is -10° to 45°.

[0014] The present invention also provides a compound-wing unmanned aerial vehicle capable of vertical takeoff, comprising the following operating steps: S1. During takeoff, control commands are issued through ground control equipment to raise the angle of the first wing until the maximum angle is reached, and the third drive device is activated to make the UAV take off vertically as a whole; after rising to the designated altitude, the first wing is restored to the horizontal state. S2. When encountering strong winds, control the angle of the first wing to rise. In crosswinds, the aircraft will automatically return to its upright position and will not easily roll over. When turning or changing direction, control the angle of the first wing to fall downward and use it in conjunction with the ailerons to improve the turning performance of the UAV. S3. During landing, as the drone descends, the angle of ascent of the first wing gradually increases, reducing interference and making the drone landing more stable.

[0015] The present invention has the following beneficial effects: In this invention, the first drive device drives the first wing to flexibly adjust its angle within the range of -10° to 45° via a push rod. With the precise control of the main control board, the first wing can increase its rise angle when encountering strong winds and automatically return to center using aerodynamic characteristics, effectively resisting external disturbances such as crosswinds and turbulence, and reducing the risk of rollover. When turning, the first wing angle can be adjusted downwards, working in conjunction with the ailerons to improve turning flexibility and response speed, adapting to the flight requirements under complex airflow conditions.

[0016] In this invention, the third drive unit provides core lift for vertical takeoff, the second drive unit ensures thrust for horizontal cruise, and the first drive unit controls wing attitude. Under the coordination of the control motherboard, the three achieve seamless switching between vertical takeoff, horizontal cruise, and landing stages. During takeoff, the first wing rises to its maximum angle to reduce airflow interference. During cruise, it returns to a horizontal state to improve aerodynamic efficiency. During landing, the rise angle is gradually increased to buffer the impact. The mode switching process is smooth and without any interruptions.

[0017] In this invention, the flexible skin at the movable hole is fixedly connected to the skin of the first wing. Together with the buffer block, tension spring and stabilizing telescopic rod of the elastic tension device, it not only ensures the sealing performance when the wing moves to avoid airflow leakage during high-speed cruising, but also buffers the stress impact when the wing attitude is adjusted to prevent the skin from tearing. The stabilizing telescopic rod of the elastic tension device can prevent the tension spring from deforming and shifting, further improving the structural stability and extending the service life.

[0018] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 This is a bottom-view structural diagram of the present invention.

[0021] Figure 3 This is a schematic diagram of the internal structure of the fuselage of the present invention.

[0022] Figure 4 This is a schematic diagram of the internal cross-sectional structure of the fuselage of the present invention.

[0023] Figure 5 For the present invention Figure 1 Enlarged view of point A in the middle.

[0024] Figure 6 For the present invention Figure 3 Enlarged view of point D in the middle.

[0025] Figure 7 For the present invention Figure 4 Enlarged view of point C.

[0026] In the diagram: 1. Fuselage; 2. First wing; 3. Second wing; 4. Tail; 5. Aileron; 6. First drive unit; 601. Miniature hydraulic cylinder; 602. Top telescopic rod; 7. Second drive unit; 701. Drive motor; 702. Propeller; 8. Third drive unit; 801. Brushless motor; 802. Lifting blade; 9. Support plate; 10. Top rod; 11. Movable hole; 12. Flexible skin; 13. Elastic tensioning device; 1301. Buffer block; 1302. Tension spring; 1303. Stabilizing telescopic rod; 14. Counterweight wing; 15. Battery; 16. Control mainboard. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] This invention provides a technical solution: a compound-wing unmanned aerial vehicle (UAV) capable of vertical takeoff, comprising: a fuselage 1, wherein the fuselage 1 is a lightweight, high-strength composite material integral molding structure, with an internal mounting cavity for accommodating core components such as a power supply module and a control module; the overall aerodynamic design of the fuselage 1 reduces flight drag and improves cruise efficiency; the outer surface of the fuselage 1 is symmetrically provided with movable holes 11, which are elongated through holes for providing space for the movement of the first wing 2; and a bracket (not shown in the figure) is provided on the fuselage 1 to facilitate the takeoff and landing of the UAV.

[0029] Reference Figure 3 and Figure 4 The fuselage 1 has a horizontally arranged support plate 9 fixedly connected inside. The support plate 9 is a rigid metal plate used to fix the first drive device 6 and the elastic tension device 13 to ensure structural stability. The fuselage 1 also has a power supply module and a control module. The power supply module is a battery 15, which is detachably connected inside the fuselage 1 for quick replacement to extend the flight time. The battery 15 is a high-energy-density lithium battery to provide stable power to various electrical components. The control module is a control motherboard 16, which is fixedly connected inside the fuselage 1 and electrically connected to the battery 15. It is the control core of the drone.

[0030] Reference Figure 4The control motherboard 16 integrates multiple functional modules, including a main control processor module responsible for overall machine calculation, flight algorithm calculation, multi-task scheduling, and coordinated control of various modules. It is the core processing unit of the motherboard. A sensor integration module, typically integrating or externally connecting gyroscopes, accelerometers, magnetometers, and barometric altimeters, is used to calculate the UAV's attitude, heading, altitude, and airspeed information. A satellite positioning module (GPS and BeiDou dual-mode positioning module) is used to acquire the UAV's latitude, longitude, speed, and heading information to achieve hovering, flight path, and return-to-home functions. An attitude calculation and inertial navigation module fuses multi-sensor data to output stable attitude angle, position, and velocity information, ensuring flight control accuracy. A power drive control module outputs PWM or digital signals to control motors and ESCs, enabling rotor speed adjustment, tilt mechanism control, and servo control. A communication module includes a wireless data transmission module: for communication with the ground station, optional image transmission collaborative interface, 4G, and 5G are available. The communication module is used to upload flight data and issue control commands. The power management module completes voltage conversion, overvoltage, overcurrent, and short-circuit protection, battery power detection, and power distribution, providing stable power to the motherboard and peripherals. The I / O module includes: motor and servo interface serial port, I2C, SPI peripheral interface, remote control receiver interface, and mission payload interface (gimbal, camera, pod, etc.). The remote control signal receiving and processing module receives remote control signals, parses manual control commands, and realizes manual or automatic mode switching. The data storage and log module stores flight parameters, fault logs, and route data for flight playback and fault analysis. The safety protection and fault diagnosis module realizes runaway protection, low voltage protection, attitude abnormality protection, and motor fault detection, improving flight safety. The whole system can realize comprehensive functions such as command reception, attitude perception, power distribution, and fault monitoring, and accurately coordinate the collaborative work of various components. The control motherboard 16 uses conventional control methods commonly used in this field, which will not be described in detail in this article.

[0031] Reference Figure 1 and Figure 2 The fuselage 1 is rotatably connected to a first wing 2, a second wing 3, and a tail 4. The first wing 2 is located inside the movable hole 11, and its two ends are rotatably connected to the fuselage 1 and the second wing 3, respectively. The movable angle of the first wing 2 is -10° to 45°, which can be flexibly adjusted according to the flight status. The outer surface of the second wing 3 is fixedly connected to a counterweight wing 14, which is rotatably connected to the fuselage 1. It is used to balance the center of gravity shift during wing attitude adjustment and ensure flight stability. Both the first wing 2 and the tail 4 are provided with ailerons 5, which are electrically connected to the control main board 16 and are used to adjust the flight attitude and assist in turning and heading.

[0032] Reference Figure 3 and Figure 4The upper surface of the support plate 9 is provided with a first driving device 6, which is electrically connected to the control main board 16 and is used to drive the first wing 2 to adjust the angle. Specifically, it includes a micro hydraulic cylinder 601 and a top telescopic rod 602. The micro hydraulic cylinder 601 is fixedly connected to the upper surface of the support plate 9, and its output end is fixedly connected to the top telescopic rod 602. There are two top telescopic rods 602, which are rotatably connected to two first wings 2 respectively. When the micro hydraulic cylinder 601 is working, it pushes the first wing 2 to rotate around the rotation axis through the extension and retraction of the top telescopic rod 602 to achieve angle adjustment.

[0033] Reference Figure 6 and Figure 7 A flexible skin 12 is provided at the movable hole 11. The flexible skin 12 is made of high-strength elastic composite material. One end of it is fixedly connected to the fuselage 1, and the other end is fixedly connected to the skin on the first wing 2. It is used to seal the movable hole 11 to prevent airflow leakage during flight. An elastic tension device 13 is fixedly connected to the outer surface of the support plate 9. The output end of the elastic tension device 13 is fixedly connected to the flexible skin 12. Specifically, it includes a buffer block 1301, a tension spring 1302, and a stabilizing telescopic rod 1303. The buffer block 1301 is made of lightweight rubber and is fixedly connected to the flexible skin 12. The tension spring 1302 and the stabilizing telescopic rod 1303 are both connected between the buffer block 1301 and the support plate 9. The stabilizing telescopic rod 1303 can prevent the tension spring 1302 from deforming and shifting. The tension spring 1302 provides elastic restoring force to buffer the tension on the flexible skin 12 when the wing moves.

[0034] Reference Figure 1 , Figure 2 and Figure 5 The fuselage 1 is equipped with a second drive device 7 for providing horizontal cruise thrust. Specifically, it includes a drive motor 701 and a propeller 702. The drive motor 701 is fixedly connected to the tail end of the fuselage 1 and electrically connected to the control motherboard 16. Its output end is fixedly connected to the propeller 702. When the drive motor 701 is working, it drives the propeller 702 to rotate, generating forward thrust. The second wing 3 is equipped with a third drive device 8 for providing vertical takeoff lift. Specifically, it includes a brushless motor 801 and a lift vane 802. The brushless motor 801 is fixedly connected to the outer surface of the second wing 3. Its output end is fixedly connected to the lift vane 802. After the brushless motor 801 is started, it drives the lift vane 802 to rotate at high speed, generating vertical upward lift.

[0035] This invention includes the following steps: S1. A takeoff command is issued via ground control equipment. After receiving the command, the control motherboard 16 drives the micro hydraulic cylinder 601 of the first drive device 6 to work. The top telescopic rod 602 extends and pushes the first wing 2 to rotate upward around the rotation axis until it reaches the maximum ascent angle of 45°. At this time, the tension spring 1302 of the elastic tension device 13 is stretched, the stabilizing telescopic rod 1303 extends synchronously, and the buffer block 1301 drives the flexible skin 12 to deform adaptively, ensuring the sealing of the movable hole 11. Then, the control motherboard 16 starts the brushless motor 801 of the third drive device 8. The lifting blades 802 rotate at high speed to generate vertical lift, driving the UAV to take off vertically. When the UAV rises to the designated altitude, the control motherboard 16 controls the micro hydraulic cylinder 601 to reset, the top telescopic rod 602 retracts, the first wing 2 returns to the horizontal state, and the elastic tension device 13 drives the flexible skin 12 to reset, preparing for horizontal cruise. S2. During level cruise, the control motherboard 16 starts the drive motor 701 of the second drive device 7, which drives the propeller 702 to rotate and generate thrust. The UAV relies on the aerodynamic lift of the first wing 2 and the second wing 3 to cruise stably. If strong winds are encountered during flight, the control motherboard 16 senses the changes in airflow through the sensor integration module and automatically controls the first wing 2 to adjust its angle upwards. It uses aerodynamic characteristics to automatically straighten the fuselage 1, enhances wind resistance, and avoids rollover. When turning or changing direction is required, the control motherboard 16 controls the first wing 2 to adjust its angle downwards, while coordinating the deflection of the aileron 5 to adjust the attitude of the fuselage 1, improves the turning flexibility and response speed, and ensures smooth and precise turning. S3. A landing command is issued through the ground control equipment, and the control motherboard 16 gradually reduces the power of the second drive device 7, and the drone begins to descend slowly. As the altitude decreases, the control motherboard 16 controls the rise angle of the first wing 2 to gradually increase, gradually adjusting from a horizontal state to close to the maximum rise angle, using the increased aerodynamic drag to reduce the descent speed and reduce airflow interference. At the same time, the brushless motor 801 of the third drive device 8 reduces its speed to provide auxiliary lift to buffer the landing impact. When the drone touches the ground smoothly, the control motherboard 16 shuts down all drive devices to complete the landing process.

[0036] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A compound-wing unmanned aerial vehicle capable of vertical takeoff, characterized in that, include: The fuselage (1), first wing (2), second wing (3), and tail fin (4) are provided. The fuselage (1) is equipped with a power supply module and a control module. The first wing (2) and the tail fin (4) are each equipped with an aileron (5). The aileron (5) is electrically connected to the control module. The fuselage (1) is equipped with a second drive device (7). The second wing is equipped with a third drive device (8). The first wing (2) and the second wing (3) are rotatably connected. The second wing (3) is equipped with a counterweight wing (14). The counterweight wing (14) is rotatably connected to the fuselage (1). The first wing (2) is rotatably connected to the fuselage (1). A support plate (9) is fixedly connected inside the fuselage (1). A first driving device (6) is provided on the upper surface of the support plate (9). The first driving device (6) has two output ends. A top rod (10) is fixedly connected to the output end of the first driving device (6). The top rod (10) is rotatably connected to the first wing (2). The first driving device (6) is electrically connected to the control module. The fuselage (1) is provided with a movable hole (11), the first wing (2) is located inside the movable hole (11), a flexible skin (12) is provided at the movable hole (11), an elastic tensioning device (13) is fixedly connected to the outer surface of the support plate (9), the output end of the elastic tensioning device (13) is fixedly connected to the flexible skin (12), and the flexible skin (12) is fixedly connected to the skin on the first wing (2).

2. A compound-wing unmanned aerial vehicle capable of vertical takeoff according to claim 1, characterized in that, The power supply module is specifically a battery (15), which is detachably connected inside the body (1).

3. A compound-wing unmanned aerial vehicle capable of vertical takeoff according to claim 1, characterized in that, The control module is specifically a control motherboard (16), which is fixedly connected inside the body (1) and electrically connected to the battery (15).

4. A compound-wing unmanned aerial vehicle capable of vertical takeoff according to claim 1, characterized in that, The first driving device (6) includes: a micro hydraulic cylinder (601) and a top telescopic rod (602). The micro hydraulic cylinder (601) is fixedly connected to the upper surface of the support plate (9). The output end of the hydraulic cylinder (601) is fixedly connected to the top telescopic rod (602). There are two top telescopic rods (602), which are rotatably connected to the two first wings (2) respectively.

5. A compound-wing unmanned aerial vehicle capable of vertical takeoff according to claim 1, characterized in that, The second drive device (7) includes a drive motor (701) and a propeller (702). The drive motor (701) is fixedly connected to the tail end of the fuselage (1) and electrically connected to the control motherboard (16). The output end of the drive motor (701) is fixedly connected to the propeller (702).

6. A compound-wing unmanned aerial vehicle capable of vertical takeoff according to claim 1, characterized in that, The third drive device (8) includes: a brushless motor (801) and a lifting blade (802). The brushless motor (801) is fixedly connected to the outer surface of the second wing (3), and the output end of the brushless motor (801) is fixedly connected to the lifting blade (802).

7. A compound-wing unmanned aerial vehicle capable of vertical takeoff according to claim 1, characterized in that, The elastic tensioning device (13) includes: a buffer block (1301), a tension spring (1302), and a stabilizing telescopic rod (1303). The buffer block (1301) is fixedly connected to the flexible skin (12). The tension spring (1302) and the stabilizing telescopic rod (1303) are both fixedly connected to the buffer block (13). The material of the buffer block (1301) is lightweight rubber.

8. A compound-wing unmanned aerial vehicle capable of vertical takeoff according to claim 3, characterized in that, The control motherboard (16) includes: a main control processor module, a sensor integration module, a satellite positioning module, an attitude calculation and inertial navigation module, a power drive control module, a communication module, a power management module, an IO module, a remote control signal receiving and processing module, a data storage and log module, and a safety protection and fault diagnosis module.

9. A compound-wing unmanned aerial vehicle capable of vertical takeoff according to claim 1, characterized in that, The first wing (2) has an operating angle of -10° to 45°.

10. A compound-wing unmanned aerial vehicle capable of vertical takeoff, characterized in that: The following steps are included: S1. During takeoff, control commands are issued through ground control equipment to raise the angle of the first wing (2) until the maximum rise angle is reached, and the third drive device (8) is activated to make the UAV take off vertically as a whole; after rising to the designated height, the first wing (2) is restored to the horizontal state. S2. When encountering strong winds, control the angle of the first wing (2) to rise. When there is a crosswind, the aircraft will automatically return to the correct position and will not easily roll over. When it is necessary to turn or change direction, control the angle of the first wing (2) to fall down and use it in conjunction with the aileron (5) to improve the turning performance of the UAV. S3. During landing, as the drone descends, the angle of ascent of the first wing (2) gradually increases, reducing interference and making the drone landing more stable.

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