阅读说明：本技术 垂直起降的无人机及其驱动方法 (Vertical take-off and landing unmanned aerial vehicle and driving method thereof ) 是由 唐冰 庞何苗 刘以建 于 2021-04-02 设计创作，主要内容包括：本发明公开了垂直起降的无人机及其驱动方法。垂直起降的无人机具有机身和驱动单元,所述驱动单元包括第一驱动机构和第二驱动机构,所述第二驱动机构为两个且分布于机身的两侧；所述第一驱动机构和第二驱动机构呈三点式分布；其中,所述第一驱动机构包括推力发动机；所述第二驱动机构包括：螺旋桨,用于在无人机起降时转动,螺旋桨的转轴竖向分布；连杆,连杆一端与螺旋桨的转轴连接,另一端与机身通过第一铰接件连接；推动结构,用于推动连杆沿第一铰接件转动。首先,三点式分布的驱动单元有助于提升无人机升降的平稳性。其次,第二驱动机构可以收拢和展开,收拢后可以显著降低平飞的阻力。再者,未采用涵道风扇就实现了无人机的平稳升降。(The invention discloses an unmanned aerial vehicle for vertical take-off and landing and a driving method thereof. The unmanned aerial vehicle capable of vertically taking off and landing is provided with a machine body and driving units, wherein each driving unit comprises a first driving mechanism and a second driving mechanism, and the two second driving mechanisms are distributed on two sides of the machine body; the first driving mechanism and the second driving mechanism are distributed in a three-point mode; wherein the first drive mechanism comprises a thrust motor; the second drive mechanism includes: the propellers are used for rotating when the unmanned aerial vehicle takes off and lands, and rotating shafts of the propellers are vertically distributed; one end of the connecting rod is connected with the rotating shaft of the propeller, and the other end of the connecting rod is connected with the machine body through a first hinge piece; and the pushing structure is used for pushing the connecting rod to rotate along the first hinge piece. Firstly, the driving unit of bikini distribution helps promoting the stationarity that unmanned aerial vehicle goes up and down. And secondly, the second driving mechanism can be folded and unfolded, and the resistance of the flat flight can be obviously reduced after the second driving mechanism is folded. Moreover, the stable lifting of the unmanned aerial vehicle is realized without adopting a ducted fan.)

1. Unmanned aerial vehicle of VTOL has fuselage (100) and drive unit, its characterized in that: the driving unit comprises a first driving mechanism and a second driving mechanism, and the two second driving mechanisms are distributed on two sides of the machine body (100); the first driving mechanism and the second driving mechanism are distributed in a three-point mode; wherein the content of the first and second substances,

the first drive mechanism comprises a thrust motor;

the second drive mechanism includes:

the propellers (210) are used for rotating when the unmanned aerial vehicle takes off and lands, and rotating shafts of the propellers (210) are vertically distributed;

one end of the connecting rod (220) is connected with the rotating shaft of the propeller (210), and the other end of the connecting rod (220) is connected with the machine body (100) through a first hinge part (230);

and a pushing structure for pushing the link (220) to rotate along the first hinge (230).

2. The VTOL unmanned aerial vehicle of claim 1, wherein: the thrust engine is a vector engine; and/or the first driving mechanism further comprises oil tanks arranged in wings (110) on two sides of the fuselage (100).

3. The VTOL unmanned aerial vehicle of claim 1, wherein: the first driving mechanism is arranged behind the second driving mechanism.

4. A VTOL unmanned aerial vehicle according to claim 3, wherein: the machine body (100) is also provided with a battery unit, and the second driving mechanism, the battery unit and the first driving mechanism are sequentially distributed on the machine body (100) from front to back.

5. The VTOL unmanned aerial vehicle of claim 1, wherein: the both sides of fuselage (100) are equipped with recess (120), and when unmanned aerial vehicle was flat to fly, screw (210) and connecting rod (220) shrink in recess (120).

6. The VTOL unmanned aerial vehicle of claim 1, wherein: the propeller (210) is a two-bladed propeller (210).

7. The VTOL unmanned aerial vehicle of claim 1, wherein: the pushing structure includes:

an electric push rod (240) having an extendable and retractable actuator (241);

and two ends of the special-shaped rod (250) are respectively connected with the actuator (241) and the connecting rod (220) through a second hinge (260).

8. The VTOL unmanned aerial vehicle of claim 7, wherein: the special-shaped rod (250) is L-shaped.

9. The VTOL unmanned aerial vehicle of claim 1, wherein: the device also comprises a control unit for controlling the first driving mechanism and the second driving mechanism.

10. Method for driving a VTOL unmanned aerial vehicle according to any of claims 1-9, characterized in that: the method comprises the following steps:

(1) a takeoff stage: the control propeller (210) extends out of the machine body (100) and rotates, and the direction of the airflow of the tail nozzle of the thrust engine is controlled to be vertical to the ground;

(2) a flat flight stage: controlling the propeller (210) to stop rotating and retract into the machine body (100), and controlling the airflow direction of a tail nozzle of a thrust engine to be parallel to the ground;

(3) a descending stage: the control propeller (210) extends out of the machine body (100) and rotates, and the air flow direction of a tail nozzle of the thrust engine is controlled to be vertical to the ground.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle capable of taking off and landing vertically and a driving method thereof.

Background

At present, the unmanned aerial vehicle that has VTOL function of wide application is most for many rotor unmanned aerial vehicle or duct fan unmanned aerial vehicle, mainly relies on the rotor or the duct fan of vertical distribution to provide lift in the lift phase, then relies on tilting of rotor or duct fan to produce the thrust forward or other directions in the flat flight phase. Therefore, the battery with larger capacity is needed to supply power for the rotor wing or the ducted fan to realize longer voyage and voyage, so that the weight of the battery occupies most of the weight of the unmanned aerial vehicle, the weight of the unmanned aerial vehicle is too heavy, and the weight of the mission load, the voyage and the voyage are all severely limited.

Disclosure of Invention

The invention mainly aims to provide a vertical take-off and landing unmanned aerial vehicle and a driving method thereof, and aims to solve the technical problems that the vertical take-off and landing unmanned aerial vehicle in the prior art is heavy and short in flight time and flight distance.

To achieve the above object, according to one aspect of the present invention, there is provided a vertical take-off and landing unmanned aerial vehicle. The technical scheme is as follows:

the unmanned aerial vehicle capable of vertically taking off and landing is provided with a machine body and two driving units, wherein each driving unit comprises a first driving mechanism and a second driving mechanism; the first driving mechanism and the second driving mechanism are distributed in a three-point mode; wherein the first drive mechanism comprises a thrust motor; the second drive mechanism includes: the propellers are used for rotating when the unmanned aerial vehicle takes off and lands, and rotating shafts of the propellers are vertically distributed; one end of the connecting rod is connected with the rotating shaft of the propeller, and the other end of the connecting rod is connected with the machine body through a first hinge piece; and the pushing structure is used for pushing the connecting rod to rotate along the first hinge piece.

Firstly, the unmanned aerial vehicle for vertical take-off and landing adopts the driving units distributed in three points, which is beneficial to improving the lifting stability of the unmanned aerial vehicle. And the second driving mechanism can be folded and unfolded along the first hinge part, and the resistance of the flat flight can be obviously reduced after the second driving mechanism is folded, so that the energy consumption of the first driving mechanism is reduced. Moreover, the second driving structure is only used during lifting, so that the weight is light, the required battery power is small, and the weight of the unmanned aerial vehicle is favorably reduced; and, along with the increase of flight time, the fuel loading capacity on the fuselage reduces because of the consumption of thrust engine gradually, and unmanned aerial vehicle weight reduces thereupon, can further improve time of flight and journey. Therefore, the unmanned aerial vehicle taking off and landing vertically realizes the stable lifting of the unmanned aerial vehicle without adopting a multi-rotor structure or a ducted fan, effectively lightens the weight of the unmanned aerial vehicle, and provides a brand new unmanned aerial vehicle structure.

Further, the thrust engine is a vector engine; and/or the first driving mechanism further comprises oil tanks arranged in wings on two sides of the fuselage. This helps simplify the structure of the first drive mechanism and facilitates installation.

Further, the first driving mechanism is arranged behind the second driving mechanism. Therefore, the first driving mechanism is positioned close to the tail of the airplane body, and the optimal thrust can be provided after the airplane flies.

Furthermore, a battery unit is arranged on the machine body, and the second driving mechanism, the battery unit and the first driving mechanism are sequentially distributed on the machine body from front to back. Therefore, the second driving mechanism is located at a non-position close to the head of the machine body and is matched with the first driving mechanism close to the tail of the machine body, so that the machine body is stressed more uniformly when lifted, and the lifting is more stable.

Furthermore, the both sides of fuselage are equipped with the recess, and when unmanned aerial vehicle was flown flatly, screw and connecting rod shrink in the recess. Therefore, after the propeller and the connecting rod are contracted in the groove, the flight resistance generated by the propeller and the connecting rod when the unmanned aerial vehicle flies flatly can be reduced to the maximum extent.

Further, the propeller is a two-blade propeller. Therefore, the propellers with two blades can be arranged along the axial direction of the machine body and the groove, and the width of the groove is reduced.

Further, the pushing structure includes: an electric push rod having an extendable and retractable actuator; and two ends of the special-shaped rod are respectively connected with the actuator and the connecting rod through a second hinge. Therefore, the pushing structure is simple in structure and convenient to automatically control.

Further, the profile rod is L-shaped. Therefore, the structure is simple and easy to obtain, and one end of the special-shaped rod can be transversely changed and longitudinally changed through rotation of the two ends of the special-shaped rod, so that the position change of a contact point between the special-shaped rod and the connecting rod caused by rotation of the connecting rod is adapted.

Further, the device also comprises a control unit for controlling the first driving mechanism and the second driving mechanism. Thereby, the operation of the first drive mechanism and the second drive mechanism is automatically controlled.

In order to achieve the above object, according to another aspect of the present invention, there is also provided a driving method of a drone, which is the drone for vertical take-off and landing described above. The technical scheme is as follows:

the driving method of the unmanned aerial vehicle comprises the following steps:

(1) a takeoff stage: the propeller is controlled to extend out of the machine body and rotate, and the airflow direction of a tail nozzle of the thrust engine is controlled to be vertical to the ground;

(2) a flat flight stage: controlling the propeller to stop rotating and retract into the machine body, and controlling the airflow direction of a tail nozzle of the thrust engine to be parallel to the ground;

(3) a descending stage: the propeller is controlled to extend out of the machine body and rotate, and the air flow direction of a tail nozzle of the thrust engine is controlled to be vertical to the ground.

In the driving method of the unmanned aerial vehicle, the second driving mechanism only operates in the takeoff phase and the landing phase, and the second driving mechanism is in a furled state in the flat flight phase.

In conclusion, the unmanned aerial vehicle capable of vertically taking off and landing and the driving method thereof do not adopt a ducted fan multi-rotor structure, or the driving unit has a simple structure, and the unmanned aerial vehicle is beneficial to reducing the weight of the unmanned aerial vehicle. Secondly, first actuating mechanism and second actuating mechanism are the bikini and distribute, and unmanned aerial vehicle's VTOL process is more steady. Therefore, the vertical take-off and landing unmanned aerial vehicle and the driving method thereof have the advantages of simple structure and strong practicability.

The invention is further described with reference to the following figures and detailed description. Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to assist in understanding the invention, and are included to explain the invention and their equivalents and not limit it unduly.

Fig. 1 is a schematic structural diagram of an embodiment of the vertical take-off and landing drone of the present invention.

Fig. 2 is a side view of an embodiment of the vtol drone of the present invention.

Fig. 3 is a schematic structural view of the second driving mechanism in fig. 1-2 in a deployed state.

Fig. 4 is a schematic structural view of the second driving mechanism in fig. 1-2 in a closed state.

The relevant references in the above figures are:

100-fuselage, 110-wing, 120-notch, 210-propeller, 220-link, 230-first hinge, 240-electric push rod, 241-actuator, 250-profile rod, 260-second hinge.

Detailed Description

The invention will be described more fully hereinafter with reference to the accompanying drawings. Those skilled in the art will be able to implement the invention based on these teachings. Before the present invention is described in detail with reference to the accompanying drawings, it is to be noted that:

the technical solutions and features provided in the present invention in the respective sections including the following description may be combined with each other without conflict.

Moreover, the embodiments of the present invention described in the following description are generally only some embodiments of the present invention, and not all embodiments. Therefore, all other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort shall fall within the protection scope of the present invention.

With respect to terms and units in the present invention. The terms "comprising," "having," and any variations thereof in the description and claims of this invention and the related sections are intended to cover non-exclusive inclusions.

Fig. 1 is a schematic structural diagram of an embodiment of the vertical take-off and landing drone of the present invention. Fig. 2 is a side view of an embodiment of the vtol drone of the present invention.

As shown in fig. 1-2, the vertical take-off and landing unmanned aerial vehicle includes a main body 100, a driving unit, a battery unit and a control unit, wherein the driving unit includes a first driving mechanism and a second driving mechanism, and the second driving mechanisms are two and distributed on two sides of the main body 100; the first driving mechanism and the second driving mechanism are distributed in a three-point mode.

The first driving mechanism includes a thrust engine and oil tanks disposed in the wings 110 on both sides of the fuselage 100, and the thrust engine is a vector engine. The vector Engine (TVC Engine for short) is an Engine in which the nozzle of a tail nozzle can deflect towards different directions to generate Thrust in different directions.

The first driving mechanism is arranged behind the second driving mechanism, and the second driving mechanism, the battery unit and the first driving mechanism are sequentially distributed on the machine body 100 from front to back. From this, whole unmanned aerial vehicle's compact structure, small, be convenient for manufacturing and reduce cost.

The battery unit is used for supplying power to the whole unmanned aerial vehicle.

The control unit is used for controlling the first driving mechanism and the second driving mechanism.

Fig. 3 is a schematic structural view of the second driving mechanism in fig. 1-2 in a deployed state. Fig. 4 is a schematic structural view of the second driving mechanism in fig. 1-2 in a closed state.

As shown in fig. 3-4, the second driving mechanism includes a propeller 210, a connecting rod 220, and a pushing structure; the both sides of fuselage 100 are equipped with recess 120, and when unmanned aerial vehicle level flies, screw 210 and connecting rod 220 shrink in recess 120.

The propellers 210 are used for rotating when the unmanned aerial vehicle takes off and lands, rotating shafts of the propellers 210 are vertically distributed, and the propellers 210 are the propellers 210 with two blades; from this, when unmanned aerial vehicle level flies, the screw 210 of two blades can be placed in recess 120 along fuselage 100 direction, helps reducing unmanned aerial vehicle's flight resistance.

The connecting rod 220 has one end connected to the rotating shaft of the propeller 210 and the other end connected to the body 100 through the first hinge 230. Therefore, the connecting rod 220 rotates along the first hinge 230 to fold and unfold the propeller 210.

The pushing structure serves to push the link 220 to rotate along the first hinge 230. The pushing structure comprises an electric push rod 240 and a special-shaped rod 250; the electric push rod 240 has an actuator 241 that can be extended and retracted; the two ends of the shaped rod 250 are connected to the actuator 241 and the connecting rod 220 through the second hinge 260, respectively, and the shaped rod 250 is L-shaped. Thus, by providing the shaped lever 250, it is possible to accommodate a change in the position of the contact point of the shaped lever 250 with the link 220 caused when the link 220 rotates.

The driving method of the unmanned aerial vehicle comprises the following steps:

(1) a takeoff stage: the control propeller 210 extends out of the machine body 100 and rotates, and the air flow direction of the tail nozzle of the thrust engine is controlled to be vertical to the ground;

when the unmanned aerial vehicle is ready to take off, the control unit controls the actuator 241 to extend out, so that the connecting rod 220 rotates to drive the propeller 210 to extend out towards the side face of the body 100; meanwhile, the control unit controls a tail nozzle of the vector engine to rotate downwards, so that the direction of air flow is vertical to the ground; the control unit controls the propeller 210 and the vector engine to work simultaneously to form a three-point power layout with two front and one rear, and the lift force generated by the propeller 210 and the lift force generated by the airflow ejected by the engine act together to enable the unmanned aerial vehicle to overcome the action of gravity and achieve vertical takeoff.

(2) A flat flight stage: controlling the propeller 210 to stop rotating and retract into the fuselage 100, and controlling the airflow direction of the tail nozzle of the thrust engine to be parallel to the ground;

when the unmanned aerial vehicle vertically rises to a certain height and needs to be turned into a horizontal flight state, the control unit controls the tail nozzle of the vector engine to rotate upwards, so that the direction of airflow is parallel to the ground, and the propeller 210 normally rotates in the process to provide lift force for the unmanned aerial vehicle; after the rotation of the engine tail pipe is completed, the control unit controls the propeller 210 to stop rotating and the actuator 241 to retract, and the connecting rod 220 rotates to drive the propeller 210 to retract into the groove 120 on the side surface of the body 100; after that, the unmanned aerial vehicle is driven by the thrust generated by the vector engine only, and the flat flight is realized.

(3) A descending stage: the control propeller 210 extends out of the machine body 100 and rotates, and the air flow direction of the tail nozzle of the thrust engine is controlled to be vertical to the ground;

when the unmanned aerial vehicle needs to be switched from a flat flight state to a vertical landing state, the control unit controls the actuator 241 to extend out, so that the connecting rod 220 rotates to drive the propeller 210 to extend out towards the side face of the body 100, and then the extended propeller 210 starts to rotate to generate lift force; meanwhile, the control unit controls a tail nozzle of the vector engine to rotate downwards, so that the direction of air flow is vertical to the ground; the control unit controls the lift force provided by the propeller 210 and the vector engine, so that the unmanned aerial vehicle slowly descends under the condition of low speed, and vertical landing is realized; after the descent, the control unit controls the vector engine to be turned off, and at the same time, controls the propeller 210 to be retracted into the recess 120 in the side of the body 100.

The contents of the present invention have been explained above. Those skilled in the art will be able to implement the invention based on these teachings. All other embodiments, which can be derived by a person skilled in the art from the above description without inventive step, shall fall within the scope of protection of the present invention.