A vertical takeoff and landing fixed-wing unmanned aerial vehicle

Abstract

This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a vertical takeoff and landing (VTOL) fixed-wing UAV, comprising a cruise propeller and a rotor assembly on a frame. The cruise propeller is mounted at the tail of the frame and driven by a cruise motor. The rotor assembly is connected to the frame via an arm, mounted on the arm, and driven by a brushless motor. The frame has a storage cavity containing a servo motor. By adjusting the rotation angle of the servo motor, the arm can be rotated, causing it to extend the rotor assembly outside the storage cavity or retract the arm and rotor assembly into the storage cavity. A suitable hatch is also installed at the opening of the storage cavity. The hatch is driven by a hatch drive mechanism arranged on the frame to perform opening and closing actions, and when the hatch is closed, it can seal the opening of the storage cavity. This invention solves the technical problems of low flight efficiency and endurance of existing compound-wing UAVs.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a vertical take-off and landing (VTOL) fixed-wing UAV. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are aircraft that do not require human piloting and rely on remote control or autonomous programs for flight control. They are widely used in aerial photography and surveying, agricultural and forestry plant protection, and security monitoring. Based on their flight structure and principles, mainstream UAVs can be divided into fixed-wing UAVs and rotary-wing UAVs: fixed-wing UAVs achieve high-speed, long-endurance flight by utilizing the lift generated by their wings, but rely on runways for takeoff and landing; rotary-wing UAVs generate lift through rotor rotation, enabling vertical takeoff and landing and hovering, but are limited by short endurance and slow speed. To integrate the advantages of both, compound-wing UAVs have emerged, which combine a fixed-wing fuselage with a rotor system, theoretically achieving both vertical takeoff and landing capabilities and efficient cruise performance.

[0003] However, to achieve vertical takeoff and landing, existing compound-wing UAVs require their rotor systems (usually multiple arms and rotors) to be exposed on the sides of the fuselage or under the wings for extended periods. During the cruise phase, the exposed rotors rotate, generating a downwash that impacts the airflow over the fixed wing surface, thus interfering with the airflow around the fuselage and disrupting the aerodynamic shape of the fixed wing. At the same time, stationary or slow-rotating rotors become additional sources of air resistance, significantly reducing cruise efficiency. Utility Model Content

[0004] To address the shortcomings of the existing technology, this utility model provides a vertical take-off and landing fixed-wing UAV to solve the technical problems of low flight efficiency and endurance of existing compound-wing UAVs.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] This utility model provides a vertical takeoff and landing fixed-wing unmanned aerial vehicle (UAV), including a cruise propeller and a rotor assembly on a frame. The cruise propeller is mounted at the tail of the frame and driven by a cruise motor. The rotor assembly is connected to the frame via an arm, mounted on the arm, and driven by a brushless motor. The frame has a storage cavity containing a servo motor. By adjusting the rotation angle of the servo motor, the arm can rotate, causing it to extend the rotor assembly outside the storage cavity or retract the arm and rotor assembly into the storage cavity. A suitable hatch is also installed at the opening of the storage cavity. The hatch is driven by a hatch drive mechanism arranged on the frame to open and close, and when closed, it seals the opening of the storage cavity.

[0007] The basic technical solution works as follows: the UAV control module communicates wirelessly with the backend control terminal, coordinating all components of the fuselage and switching between modes throughout the flight mission. During vertical takeoff, servos in the retractable cavity drive the arms to extend, and brushless motors at the movable ends of the arms drive the rotor assembly to rotate, providing vertical lift and allowing the UAV to ascend vertically to a safe altitude of 20-80 meters. During the cruise phase, the arms remain extended, and the cruise motor at the tail drives the cruise propeller to output forward thrust, accelerating the UAV. During vertical takeoff and landing, the fixed wings and rotor assembly on the UAV work together to provide lift. When the speed reaches approximately 1.1 times the stall speed, the servos drive the arms to retract into the retractable cavity, the hatch closes the retractable cavity, and the system switches to a purely fixed mode. In the wing control phase, during the cruise climb, level flight, and descent phases, the UAV operates in pure fixed-wing mode, relying on the fixed wings to provide aerodynamic lift. The cruise motor drives the cruise propeller to maintain flight, completing the actions of climbing to the mission altitude, performing reconnaissance missions, and descending. During the in-flight braking phase, the hatch is opened, and the servo drives the arm to extend from the storage cavity again. The rotor assembly rotates to increase drag and achieve deceleration. The fixed wings and rotor assembly work together to provide lift, eventually merging into a hovering state above the landing point. During the vertical descent phase, the UAV descends vertically using the lift provided by the rotor assembly to achieve a gentle landing. Throughout the process, the UAV control module ensures stable operation and mode switching at each stage by precisely controlling the servo, brushless motor, and cruise motor.

[0008] The beneficial effects of the basic technical solution are as follows: The storage cavity allows the arms and rotor assembly to be completely retracted when the UAV enters fixed-wing cruise mode, effectively preventing airflow interference between the arms and rotor and the fixed wing during cruise, reducing air resistance, and significantly improving flight efficiency and endurance. The hatch design allows for the opening or closing of the storage cavity. While not affecting arm deployment, the cavity can be closed during arm retraction, preventing airflow from entering and creating turbulence, further reducing air resistance during flight and improving endurance. Simultaneously, servo motors drive the arms' retraction and extension within the storage cavity, ensuring a stable and reliable process and enabling seamless switching between vertical takeoff and landing (VTOL) and fixed-wing cruise. This retains the flexibility of VTOL without requiring a dedicated runway while leveraging the advantages of efficient fixed-wing cruise.

[0009] Furthermore, at least one robotic arm working group is installed on the frame, and each robotic arm working group includes two robotic arms. The two robotic arms in each robotic arm working group are symmetrically distributed on the left and right sides relative to the middle of the frame, and the two robotic arms in each robotic arm working group rotate in opposite directions.

[0010] With the above configuration, the pair of arms are symmetrically distributed on the left and right sides, which can balance the forces on both sides of the fuselage and avoid the fuselage tilting due to uneven load during retraction and extension. The two arms rotate in opposite directions at their connecting ends, which can achieve synchronous retraction and extension, ensuring a smooth retraction and extension process, reducing fuselage sway, improving the reliability of mode switching, and further ensuring stable operation in each flight phase.

[0011] Furthermore, the servo motor is connected to the arm via a first transmission structure. Driven by the servo motor, the first transmission structure enables the two arms in an arm assembly to rotate in opposite directions at their connection points on the frame.

[0012] With the above configuration, the servo drives a pair of arms to move in opposite directions synchronously through the first transmission structure, which simplifies the structure, reduces weight, ensures stable synchronization of extension and retraction, and improves the reliability and flight stability of the UAV.

[0013] Furthermore, the first transmission structure includes two driven gears coaxially mounted at the pivot positions of two arms in an arm working group, each driven gear being fixed relative to its respective arm, and the two driven gears meshing with each other; it also includes a driving gear driven by a servo motor output shaft, and the driving gear meshing with one of the driven gears.

[0014] With the above setup, the gear meshing transmission can drive the two arms in a working group to rotate synchronously in opposite directions, ensuring that their retraction or extension actions are coordinated and consistent, and the structure is simple and the transmission is precise and reliable.

[0015] Furthermore, two arm working groups are installed on the frame; in one arm working group, after the driven gears on the two arms mesh with each other, one of the driven gears directly meshes with the driving gear driven by the servo output shaft; in the other arm working group, after the two driven gears on the two arms mesh with each other, one of the driven gears meshes with the driving gear through an idler gear.

[0016] With the above setup, a single servo motor drives two arm working groups simultaneously through the first transmission structure, enabling the two arms in each working group to rotate in opposite directions with precise synchronization. The gear transmission structure ensures the stability and reliability of the extension and retraction movements, reducing jamming or errors. The gear set is integrated into the frame, saving space and optimizing the layout, further enhancing the structural strength and flight performance of the UAV.

[0017] Furthermore, two robotic arm working groups are installed on the frame; wherein, after the two driven gears on the two robotic arms in each robotic arm working group mesh with each other, one of the driven gears meshes with the driving gear driven by different servo output shafts.

[0018] With the above setup, two servo motors drive two robotic arm working groups respectively through the first transmission structure, so that the two robotic arms in each robotic arm working group can rotate in opposite directions.

[0019] Furthermore, two rotor assemblies are symmetrically mounted in the vertical direction of the arm, each rotor assembly comprising two rotors that rotate coaxially in opposite directions.

[0020] With the above configuration, the two coaxial counter-rotating rotor components on a single arm can cancel each other's anti-torque, preventing the UAV from spinning due to torque imbalance and improving flight stability; the vertically symmetrical layout makes the lift distribution more uniform, reducing pitch or roll moments and lowering the compensation load on the UAV control module; the coaxial counter-rotating design can also increase the lift output per unit area, improve vertical take-off and landing efficiency, while the compact structure reduces wind resistance and optimizes flight performance during the cruise phase.

[0021] Furthermore, a locking hole is provided on the arm, which is located on the lower side of the rotor assembly. When the arm is retracted into the storage cavity, a locking rod driven by a linear motor is installed at the storage cavity corresponding to the locking hole position. The linear motor can drive the locking rod to extend into or out of the locking hole to form a mechanical lock or unlock, which is used to restrict or release the rotation of the rotor assembly.

[0022] With the above settings, when the arms are retracted, the linear motor drives the locking rod and the locking hole to mechanically lock, which can effectively limit the accidental rotation of the rotor assembly in the retracted state and prevent it from colliding and being damaged by the inner wall of the retracted cavity; at the same time, it eliminates the additional airflow interference caused by rotor swaying, further reduces air resistance during the cruise phase, ensures stable operation in fixed-wing mode, and improves the structural safety and flight reliability in the retracted state.

[0023] Furthermore, the upper edge of the hatch is hinged to the upper edge of the opening of the storage cavity; the hatch drive mechanism includes an electrically controlled strut, one end of which is rotatably supported and mounted in the storage cavity space of the frame via a mounting base, and the other end of which is rotatably mounted on the hatch. The extension or retraction of the electrically controlled strut drives the hatch to perform opening or closing actions.

[0024] With the above configuration, the hinged structure and the electronically controlled struts work together to stably control the precise opening and closing of the hatch. This ensures that the hatch can fully avoid the extension of the arms and rotor assembly, and can tightly seal the storage cavity when closed to reduce cruise drag. The structure is simple, reliable, and easy to implement, and it meets the dual requirements of UAV vertical take-off and landing and efficient cruise.

[0025] Furthermore, the frame is connected to a load assembly via a gimbal. The gimbal is rotatably connected to both the frame and the load assembly to adjust the attitude of the load assembly. The load assembly includes at least one of a visible light camera, an infrared imaging component, and a laser rangefinder.

[0026] With the above settings, the gimbal can buffer the vibration of the fuselage and ensure the stable operation of the payload components. The combination of visible light camera, infrared imaging component and laser rangefinder can adapt to day and night and complex environment, accurately acquire target images and distance information, and work with the mission planning of the UAV control module to efficiently complete reconnaissance and other tasks, thereby improving the UAV's environmental adaptability and mission execution capabilities. Attached Figure Description

[0027] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute a limitation thereof. It should also be understood that these drawings are shown for simplicity and clarity and are not necessarily drawn to scale. This utility model will now be described and explained with additional features and details using the drawings, wherein:

[0028] Figure 1 This is a schematic diagram of the structure of a vertical take-off and landing fixed-wing UAV with the cabin door in the open state.

[0029] Figure 2 This is a schematic diagram of the structure of a vertical take-off and landing fixed-wing UAV with the cabin door in a closed state.

[0030] Figure 3 This is a schematic diagram of an example structure of the gimbal and load-bearing components in a vertical take-off and landing fixed-wing UAV according to this utility model;

[0031] Figure 4 This is a diagram showing the gear meshing of a vertical take-off and landing fixed-wing UAV, in which a servo motor drives two arm working groups.

[0032] Figure 5 This is a gear meshing diagram of a vertical take-off and landing fixed-wing UAV where a servo motor drives an arm assembly.

[0033] Figure 6 This is a partial cross-sectional view of the device for controlling the opening and closing of the cabin door in a vertical take-off and landing fixed-wing UAV according to the present invention.

[0034] The corresponding labels in the attached diagram are named as follows: frame 1, cruise propeller 2, rotor assembly 3, arm 4, storage cavity 5, load assembly 6, hatch 7, driven gear 8, driving gear 9, idler gear 10. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but only to represent selected embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0036] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship commonly used when the product is in use. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. In addition, the terms "horizontal," "vertical," etc., do not indicate that the component is required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] To address the problems existing in the prior art, this utility model provides a vertical take-off and landing fixed-wing unmanned aerial vehicle (UAV); such as Figures 1-2As shown, the system includes a cruise propeller 2 and a rotor assembly 3 on a frame 1. The cruise propeller 2 is mounted at the tail of the frame 1 and driven by a cruise motor. The rotor assembly 3 is connected to the frame 1 via an arm 4, mounted on the arm 4 and driven by a brushless motor. The frame 1 has a storage cavity 5, in which a servo motor is installed. By adjusting the rotation angle of the servo motor, the arm 4 can be rotated, causing the arm 4 to extend the rotor assembly 3 outside the storage cavity 5 of the frame 1, or to retract the arm 4 and the rotor assembly 3 into the storage cavity 5. A suitable hatch 7 is also installed at the opening of the storage cavity 5. The hatch 7 is driven by a hatch drive mechanism arranged on the frame 1 to perform opening and closing actions, and when the hatch 7 is closed, it can close the opening of the storage cavity 5.

[0038] In terms of electrical control design, the VTOL fixed-wing UAV of this invention should also be equipped with a UAV control module typically required for UAV equipment control, which can be housed within the frame 1. The UAV control module can be electrically connected to the cruise motor, brushless motor, servo motor, and door drive mechanism, respectively, and can be used for integrated control of these electrical control devices. The UAV control module also needs to have wireless communication capabilities to receive signals from the backend control unit, thereby executing motion control of the various power drive and electrical control devices in the VTOL fixed-wing UAV according to signal commands and set command execution programs. In practical implementation, the UAV control module is typically implemented using an embedded system with an integrated wireless communication module; this is, of course, a very mature existing technology in the field of UAV technology.

[0039] In this utility model of a vertical takeoff and landing fixed-wing UAV, at least one arm assembly is mounted on the frame 1. Each arm assembly includes two arms 4, which are symmetrically distributed about the left and right sides of the center of the frame 1, and the two arms 4 rotate in opposite directions. A servo motor is connected to the arms 4 via a first transmission structure. Driven by the servo motor, the first transmission structure enables the two arms 4 in one arm assembly to rotate in opposite directions at their connecting ends on the frame 1. The first transmission structure includes two driven gears 8 coaxially mounted at the pivot points of the two arms 4 in one arm assembly. Each driven gear 8 is fixed relative to its corresponding arm 4, and the two driven gears 8 mesh with each other. It also includes a driving gear 9 driven by the servo motor output shaft, which meshes with one of the driven gears 8. Through the above arrangement, the gear meshing transmission can drive the two arms in one arm assembly to rotate synchronously in opposite directions, ensuring that their retraction or extension actions are coordinated and consistent. The structure is simple, and the transmission is precise and reliable.

[0040] In this embodiment, two robotic arm working groups are mounted on the frame 1, such as... Figure 1As shown, one side of the rotor assembly 3 of one set of arm working groups faces the nose, while one side of the rotor assembly 3 of the other set faces the tail. When both sets of arm working groups are extended from the frame 1 and in the deployed state, the four rotor assemblies 3 can provide more balanced rotor lift power, making it easier to maintain the motion balance of the vertical takeoff and landing fixed-wing UAV. Regarding the rotation control method of the arm 4 in each arm working group, as a specific implementation method, such as... Figure 4 As shown, when two arm working groups are driven by a single servo motor, after the driven gears 8 on the two arms 4 in one arm working group mesh with each other, one of the driven gears 8 directly meshes with the driving gear 9 driven by the servo motor output shaft; after the two driven gears 8 on the two arms 4 in the other arm working group mesh with each other, one of the driven gears 8 meshes with the driving gear 9 through an idler gear 10. In this way, a single servo motor can simultaneously drive two arm working groups through the first transmission structure, achieving precise and synchronized reverse rotation of the two arms in each arm working group; the gear transmission structure ensures the stability and reliability of the extension and retraction movements, reducing jamming or errors; and the integration of the gear set inside the frame saves space and optimizes the layout, further enhancing the structural strength and flight performance of the UAV. As another specific implementation method, such as... Figure 5 As shown, when the two robotic arm workgroups are driven by two servo motors respectively, the two driven gears 8 on the two arms 4 in each robotic arm workgroup mesh with each other, and one of the driven gears 8 meshes with the driving gear 9 driven by the output shaft of a different servo motor. In this way, the two robotic arm workgroups can be driven by two servo motors through the first transmission structure, so that the two arms in each robotic arm workgroup can rotate in opposite directions. This design is more suitable for scenarios where the movement of a single arm needs to be controlled individually under certain working conditions. However, when performing the extension, retraction and rotation operations of the two arms in each robotic arm workgroup, it is necessary to control the two servo motors to perform the actions, and the coordination of control needs to be considered.

[0041] In practical implementation, two rotor assemblies 3 can be symmetrically installed in the vertical direction of the arm 4. Each rotor assembly 3 includes two rotors that rotate coaxially in opposite directions. An electronic speed controller is also provided inside the frame 1, and the UAV control module is connected to the brushless motor through the electronic speed controller. A locking hole is provided on the arm 4, located on the lower side of the rotor assembly 3. When the arm 4 is retracted into the storage cavity 5, a locking rod driven by a linear motor is installed at the storage cavity 5 corresponding to the locking hole position. The linear motor can drive the locking rod to extend into or out of the locking hole to form a mechanical lock or unlock, thereby restricting or releasing the rotation of the rotor assembly 3. Since the arm 4 itself is driven to rotate by a servo motor, the locking of the servo motor can achieve the effect of locking the rotation of the arm 4 to a certain extent. However, in order to better ensure that the arm 4 is not accidentally deployed when retracted into the storage cavity 5, or to reduce vibration, the locking rod and locking hole structure can be further designed to further lock the arm 4. In practice, a buffer layer or buffer pad can be added inside the lock hole on the machine arm 4 and / or outside the lock rod to buffer and reduce vibration.

[0042] In practical implementation, the opening and closing control design of hatch 7 can also adopt different design methods as needed. For example, as one implementation method, such as Figure 6 As shown, the upper edge of the hatch 7 can be hinged to the upper edge of the opening of the storage cavity 5. The hatch drive mechanism includes an electrically controlled strut, one end of which is rotatably supported by a mounting base within the storage cavity 5 of the frame 1, and the other end of which is rotatably mounted on the hatch 7. The extension or retraction of the electrically controlled strut controls the hatch 7 to open or close. Of course, in practical applications, the arrangement of the electrically controlled strut needs to avoid the insertion or extension lines of the rotor assembly 3 and the arm 4 to prevent interference with their movement. Alternatively, the hatch 7 can also adopt other commonly used hatch opening and closing designs such as sliding doors or translation doors, as long as they meet functional and manufacturing design requirements.

[0043] Furthermore, if the drone is to be applied to scenarios such as aerial surveying, agricultural and forestry plant protection, and security monitoring, it is necessary to collect data such as visible light images, infrared images, and / or laser rangefinders. Therefore, as a preferred design, the frame 1 can be designed with a payload assembly 6 connected to a gimbal. The gimbal is rotatably connected to both the frame 1 and the payload assembly 6 to adjust the attitude of the payload assembly 6. The payload assembly 6 includes at least one of a visible light camera, an infrared imaging component, and a laser rangefinder. In specific applications, the gimbal mechanism can use commonly used gimbal assemblies in existing technologies; the payload assembly 6 can integrate sensor components such as a visible light camera, an infrared imaging component, and / or a laser rangefinder. These payload assembly products can be obtained commercially or customized by contacting sensor vendors (mainly customizing sensor parameters, integrated product style, etc.), both of which are very mature existing technologies; examples of the gimbal and payload assembly 6 are shown below. Figure 3 As shown.

[0044] As a specific application example of this utility model of a vertical takeoff and landing fixed-wing UAV, the specific implementation process of a work mission from takeoff to performing a cruise mission and finally landing is as follows:

[0045] First, during the vertical takeoff phase: the back-end control terminal sends a command to the UAV control module, which then controls the hatch 7 to open the storage cavity 5; next, the linear motor is activated, driving the locking lever to separate the free end of the locking lever from the locking hole on the arm 4, thereby releasing the locking lever from limiting the rotor assembly 3; the UAV control module then activates the servo motor, which drives the connecting end of the arm 4 to rotate, thus deploying the arm 4; finally, the UAV control module activates the brushless motor through the electronic speed controller, which drives the rotor assembly 3 to rotate, thereby achieving the vertical takeoff of the device.

[0046] Secondly, acceleration to the cruise phase: The UAV control module activates the cruise motor, which drives the cruise propeller 2 to rotate, propelling the UAV to accelerate. During this process, the fixed wings, horizontal stabilizer, and other components on the frame 1, along with the rotor assembly 3, work together to increase lift. When the device reaches a speed of 35 m / s, i.e., 1.1 times the stall speed, the UAV control module activates the servo motor, causing the servo motor to retract the arm 4. Simultaneously, the UAV control module controls the rotational speed of the rotor assembly 3 via the electronic speed controller, keeping the rotor in the rotor assembly 3 stationary and ensuring that the rotor remains stationary at a specific position. Finally, the UAV control module activates the linear motor, which drives the locking rod to insert into the locking hole on the arm 4, thereby realizing the storage of the arm 4 and the rotor assembly 3, as well as the fixation of the rotor, and switching the device to fixed-wing mode. At the same time, the UAV control module controls the hatch 7 again to complete the sealing of the storage cavity 5, effectively preventing the rotor from rotating and avoiding interference with airflow during fixed-wing mode flight. At the same time, sealing the storage cavity 5 by the hatch 7 can prevent wind resistance that the storage cavity 5 may generate during the device's flight, thereby further reducing the air resistance experienced by the device.

[0047] Then, during the cruise and mission execution phase: the device flies using the cruise propeller 2, while the fixed wings and other devices on the frame provide lift, allowing the device to climb to the mission altitude and fly level; the gimbal is used to adjust the attitude of the payload component 6 in real time, so that the visible light camera, infrared imaging component, laser rangefinder and other devices in the payload component can work together to collect target data, and the data is transmitted to the back-end control terminal after passing through the UAV control module, thereby realizing the operation of the device.

[0048] Finally, during the landing phase: after the cruising altitude drops to 200 meters, the UAV control module drives the sliding rail transmission structure to open the hatch 7. The UAV control module drives the servo motor to extend the arm 4, and uses the rotation of the rotor assembly 3 to hover the device. At the same time, the speed of the brushless motor is adjusted by the electronic speed controller to make the device descend vertically and land smoothly.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and not to limit the technical solutions. Those skilled in the art should understand that any modifications or equivalent substitutions to the technical solutions of this utility model that do not depart from the spirit and scope of this technical solution should be covered within the scope of the claims of this utility model.

Claims

1. A vertical take-off and landing fixed-wing unmanned aerial vehicle, comprising a cruise propeller (2) and a rotor assembly (3) on a frame (1), the cruise propeller (2) being installed at the tail of the frame (1) and driven by a cruise motor; the rotor assembly (3) being connected to the frame (1) through an arm (4), the rotor assembly (3) being installed on the arm (4) and driven by a brushless motor, characterized in that: The frame (1) is provided with a storage cavity (5), and a servo motor is installed in the storage cavity (5). By adjusting the rotation angle of the servo motor, the arm (4) can be rotated, so that the arm (4) drives the rotor assembly (3) to extend out of the storage cavity (5) of the frame (1), or the arm (4) and the rotor assembly (3) can be folded up and accommodated in the storage cavity (5). A suitable hatch (7) is also installed at the opening of the storage cavity (5). The hatch (7) is driven by a hatch drive mechanism arranged on the frame (1) to perform opening and closing actions, and when the hatch (7) is closed, it can close the opening of the storage cavity (5). ​ 2. The vertical takeoff and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that: At least one robotic arm working group is installed on the frame (1). Each robotic arm working group includes two robotic arms (4). The two robotic arms (4) in each robotic arm working group are symmetrically distributed on the left and right sides relative to the middle of the frame (1), and the two robotic arms (4) in each robotic arm working group rotate in opposite directions.

3. A vertical takeoff and landing fixed-wing unmanned aerial vehicle according to claim 2, characterized in that: The servo motor is connected to the arm (4) via a first transmission structure. Driven by the servo motor, the first transmission structure enables the two arms (4) in an arm working group to rotate in opposite directions at their connection ends on the frame (1).

4. A vertical takeoff and landing fixed-wing unmanned aerial vehicle according to claim 3, characterized in that: The first transmission structure includes two driven gears (8) coaxially mounted at the pivot position of two arms (4) in an arm working group. Each driven gear (8) is fixed relative to its arm (4), and the two driven gears (8) mesh with each other. It also includes a driving gear (9) driven by a servo motor output shaft, and the driving gear (9) meshes with one of the driven gears (8).

5. A vertical takeoff and landing fixed-wing unmanned aerial vehicle according to claim 4, characterized in that: Two arm working groups are installed on the frame (1); in one arm working group, after the driven gears (8) on the two arms (4) mesh with each other, one of the driven gears (8) directly meshes with the driving gear (9) driven by the servo output shaft; in the other arm working group, after the two driven gears (8) on the two arms (4) mesh with each other, one of the driven gears (8) meshes with the driving gear (9) through an idler gear (10).

6. A vertical takeoff and landing fixed-wing unmanned aerial vehicle according to claim 4, characterized in that: Two arm working groups are installed on the frame (1); in each arm working group, after the two driven gears (8) on the two arms (4) mesh with each other, one of the driven gears (8) meshes with the driving gears (9) driven by different servo output shafts.

7. A vertical takeoff and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that: Two rotor assemblies (3) are symmetrically installed in the vertical direction of the arm (4). The rotor assembly (3) includes two rotors, which rotate coaxially.

8. A vertical takeoff and landing fixed-wing unmanned aerial vehicle according to claim 7, characterized in that: The arm (4) is provided with a locking hole located on the lower side of the rotor assembly (3). When the arm (4) is stored in the storage cavity (5), a locking rod driven by a linear motor is installed at the storage cavity (5) corresponding to the locking hole position. The linear motor can drive the locking rod to extend into or out of the locking hole to form a mechanical lock or unlock, which is used to restrict or unlock the rotation of the rotor assembly (3).

9. A vertical takeoff and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that: The upper edge of the hatch (7) is hinged to the upper edge of the opening of the storage cavity (5); the hatch drive mechanism includes an electrically controlled strut, one end of which is rotatably supported by a mounting base and installed in the storage cavity (5) of the frame (1), and the other end of which is rotatably installed on the hatch (7). The extension or shortening of the electrically controlled strut drives the hatch (7) to perform opening or closing actions.

10. A vertical takeoff and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that: The frame (1) is connected to a load assembly (6) via a gimbal. The gimbal is rotatably connected to the frame (1) and the load assembly (6) to adjust the attitude of the load assembly (6). The load assembly includes at least one of a visible light camera, an infrared imaging component, and a laser rangefinder.

Images