The invention relates to a tilting rotor four-axis unmanned aerial vehicle comprising an unmanned aerial vehicle body, vehicle arms and tilting rotor wing units, the four vehicle arms are symmetrically connected to the front portion, the rear portion, the left portion and the right portion of the unmanned aerial vehicle body, one end of each vehicle arm is connected with the unmanned aerial vehicle body, and the other end of each vehicle arm is a mounting end; the tilting rotor wing units are divided into a front tilting rotor wing unit, a rear tilting rotor wing unit, a left tilting rotor wing unit and a right tilting rotor wing unit, the front tilting rotor wing unit, the rear tilting rotor wing unit, the left tilting rotor wing unit and the right tilting rotor wing unit are correspondingly installed at the installation ends of the front arm, the rear arm, the left arm and the right arm respectively. Each tilting rotor wing unit comprises a steering engine installed at the installation end of the corresponding vehicle arm, the output end of each steering engine is connected with a motor, and a propeller is installed on an output shaft of each motor. The invention further providesa tilting flight method of the tilting rotor four-axis unmanned aerial vehicle. The operation is simple, and the manufacturing cost of the control system is reduced; horizontal stable flight is achieved, and potential safety hazards of flight are reduced; and leftward or rightward translation can be realized without changing the flight direction.
一种倾转旋翼四轴无人机,包括无人机主体、机臂和倾转旋翼单元,无人机的前后左右对称连接有四个机臂,每个机臂的一端与无人机主体连接,每个机臂的另一端为安装端;倾转旋翼单元分为前、后、左、右倾转旋翼单元,前、后、左、右倾转旋翼单元分别对应安装在前、后、左、右四个机臂的安装端上,每个倾转旋翼单元均包括安装在机臂安装端的舵机,舵机的输出端与电机相连,电机的输出轴安装有螺旋桨。本发明还提供一种倾转旋翼四轴无人机的倾转飞行方法。本发明操作简单、减小控制系统的制作成本;水平稳定飞行,减小飞行的安全隐患;能不改变飞行方向向左或者向右平移。
Tilting rotor four-axis unmanned aerial vehicle and tilting flight method thereof
一种倾转旋翼四轴无人机及其倾转飞行方法
2021-02-26
Patent
Electronic Resource
Chinese
IPC: | B64C AEROPLANES , Flugzeuge |
European Patent Office | 2020
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