CN103979104A - Vertical take-off and landing miniature air vehicle with variable X-type wing - Google Patents

Abstract

A variable body X-shaped wing vertical take-off and landing micro-aircraft, including a fuselage, wings, motors, propellers and landing gear. The upper part of the wing and the lower part of the wing are respectively installed on the fuselage, and the upper and lower parts of the wing on the same side of the aircraft are distributed at an acute angle; the upper part of the wing and the lower part of the wing all have a trapezoidal ratio and a sweep angle; The wing adopts a reverse-curved airfoil with positive camber at the front and negative camber at the rear, and the angle of attack corresponding to zero pitching moment is positive. It can smoothly realize vertical take-off and landing, level flight, hovering and the transition between level flight and hovering; it has the characteristics of simple power device, sufficient energy utilization, high aerodynamic efficiency in various flight states, good maneuverability, and large speed range coverage , suitable as an aircraft platform for micro-unmanned aerial vehicles.

Description

A VTOL micro-aircraft with variable body X-shaped wing

technical field

The invention relates to a micro-aircraft, in particular to a tail-sitting variable body X-shaped wing with vertical take-off and landing, level flight and hovering capabilities, which has an upper and lower part arranged in an X-shaped wing. aircraft.

Background technique

The concept of Micro Aerial Vehicle (MAV) was first proposed by the United States in the 1990s. Today, the worldwide research boom around MAV has continued for more than 20 years. With the improvement of the technical level and the accumulation of use experience in the international scope, a series of breakthroughs have been made in key technologies in various aspects. MAV systems with certain mission capabilities have appeared, and people's understanding and demand for micro air vehicles have also entered a new stage. stage. At present, diversified task functions have become a new trend in the development of MAVs. This requires the MAV to not only be able to cruise at a faster speed, expand the search range as much as possible within a limited time, but also be able to reduce the flight speed as much as possible in the mission area, or even hover and fly, so that mission loads such as visible light can be obtained stably and efficiently. Ongoing information. At the same time, the vertical take-off and landing capability can enable MAV to be put into use in special environments such as urban buildings and forests, which expands the scope of use of MAV. the

There are many types of aircraft layouts with level flight and hovering multi-mission capabilities, including rotor type, tilt power type and tail-sit vertical take-off and landing type. The rotor type has strong load capacity and high hovering efficiency, but the cruise flight speed is slow, the control is complicated, and the reliability is low; the tilting power type relies on an additional tilting mechanism to change the direction of the power between horizontal and vertical to achieve hovering The conversion of peaceful flight, but the additional tilting mechanism increases the weight and complexity, reduces the load capacity and reliability, and is not suitable for MAVs that are not suitable for space and weight; the tail-sitting vertical take-off and landing layout is a combination of rotor and fixed wing The combined composite layout form can take into account the low-speed and hovering flight capabilities of the rotorcraft and the efficient cruise capability of the fixed-wing aircraft. For the functional requirements of vertical take-off and landing, the tail-sitting layout is a layout with the best comprehensive performance. The tail-sitting vertical take-off and landing layout uses the pulling force generated by the propeller to balance the gravity of the aircraft to achieve hovering; the aerodynamic lift generated by the wings is used to balance the gravity, and the pulling force generated by the propeller overcomes the aerodynamic resistance to achieve level flight; Manipulating torque is required, which is a composite layout form that meets the integration requirements of various mission capabilities and is suitable for MAV.

However, there are also obvious limitations when the existing tail-sit vertical take-off and landing layout is used for micro air vehicles. Chinese Patent Publication No. CN 102514712 A, published on June 27, 2012, the name of the invention is "a vertical take-off and landing aircraft". The vertical take-off and landing aircraft, which is controlled by the elevator and rudder located in the slipstream area of the propeller, can realize vertical take-off and landing and high-speed cruise. Its disadvantage is that the dual-propeller layout leads to the selection of smaller-sized propellers, otherwise the power consumption of the propellers will be too large, which leads to low efficiency of the propellers and a rapid increase in energy consumption of the power system; The diameter of the tube is small, and the control ability of the aerodynamic rudder surface is significantly reduced in low-speed flight, especially in the hovering state, and it is difficult to provide sufficient hovering control torque. This is the contradiction between the aircraft's inability to simultaneously satisfy the weight of the power system, power efficiency, and sufficient maneuverability required by various flight states.

Contents of the invention

The purpose of the present invention is to provide a variable body X-type wing vertical take-off and landing micro-aircraft, which solves the contradiction between the weight, reasonable utilization of motor power and maneuverability requirements in the prior art, and adopts a single propeller to provide Power drives the layout of the variable X-shaped wing, and the control is realized through four movable control surfaces, which is more suitable for smooth cruising, hovering and vertical take-off and landing.

Technical scheme of the present invention is:

A variable body X-shaped wing vertical take-off and landing micro-aircraft includes a fuselage, wings, motors, propellers and landing gear. electronic governor, autopilot, data link airborne terminal, task load airborne equipment and battery; the motor is arranged on the front end of the fuselage, and the propeller is arranged on the pivot of the motor; the fuselage, the motor , propeller are one, the motor is connected to the electronic governor, the signal line of the electronic governor is connected to the autopilot, and the autopilot is connected to the airborne terminal of the data link in two directions; the mission load airborne equipment is a digital image sensor, Connected with the data link airborne terminal; the motor, the electronic governor, the autopilot, the data link airborne terminal and the digital image sensor are all powered by batteries;

Its special feature is that the wings are left-right symmetrical about the XOZ plane of the body axis system, and are divided into upper and lower parts. The upper part of the wing is turned upside down, and the lower part of the wing is turned down. The upper and lower wings are distributed at acute angles; both the upper wing and the lower wing have a trapezoidal ratio and a sweep angle; the wing adopts a reverse-curved airfoil, with a positive camber at the front and a negative camber at the rear, The angle of attack corresponding to zero pitching moment is positive.

The above-mentioned variable body X-wing vertical take-off and landing micro-aircraft is special in that it also includes a movable control surface and a variable mechanism. The movable control surface is located on the side of the fuselage, symmetrical from left to right, and the total number is four are respectively hinged with their corresponding wings, and the control of the aircraft is realized through different control combinations of the four movable control surfaces; The angle between the partial wing and the lower partial wing to achieve the desired variant handling.

The above-mentioned movable control surfaces are symmetrical to the left and right of the XOZ plane of the body axis system, and the movable control surfaces on both sides of the XOZ plane are respectively deflected to different directions of the Z axis of the body axis system to generate a rolling moment around the OX axis;

The pitching moment around the OY axis is generated by simultaneously deflecting the movable control surfaces on both sides of the XOZ plane to the same direction of the Z axis of the body axis system;

The yaw moment around the OZ axis is generated by the deflection of the two movable control surfaces on one side of the XOZ plane in different directions of the Z-axis of the body axis system, and the non-deflection of the two movable control surfaces on the other side of the XOZ plane.

The above variant mechanism includes a first rotating shaft, a second rotating shaft, a ball and a cage, the first rotating shaft and the second rotating shaft are fixedly connected to the fuselage respectively, and their centerlines are located in the XOZ plane and parallel to the X axis;

The first rotating shaft hinges the ends of the first spar and the third spar on both sides of the lower part of the wing, the thickness of the hinged position of the ends of the first spar and the third spar is smaller than the middle section of the spar, and the ends of the two spars A number of balls and a cage are sandwiched in the gap formed in the thickness direction. The cage is a disc with circular holes distributed in a circle and is fixed on the first rotating shaft. The balls are placed in the circular holes of the cage. The diameter of the ball makes the ball contact with the first spar and the third spar at the same time; the end of the first spar is an involute tooth shape, and the center of the index circle of the tooth shape is located on the center line of the first rotating shaft;

The shape, size and connection relationship of the second shaft and the second spar and the fourth spar on both sides of the upper part of the wing and the cage are the same as those of the first shaft and the first spar and the fourth spar on both sides of the lower part of the wing. The three-wing spar and the cage are consistent;

The actuator is a servo motor, and an involute gear is fixedly connected to the pivot of the servo motor. The diameter of the pitch circle of the gear is the same as that of the first spar. The gear and the involute at the end of the second spar The tooth profiles each mesh with an involute tooth profile at the end of the first spar.

The above-mentioned variable body X-wing vertical take-off and landing micro-aircraft is special in that: when the angle between the upper part of the wing and the lower part of the wing is zero through the morphing mechanism, that is, the morph into a single wing, The lift-to-drag ratio increases.

The above-mentioned wing is a hollow shell structure, with ribs and beam structures arranged inside, and there is an opening below the middle of the wing, which is used to install the digital steering gear used for manipulation.

The fuselage above is a hollow shell structure, with beams and reinforcement frames arranged inside; airborne equipment and batteries are arranged inside the fuselage according to the design results; the front end of the fuselage is a motor mounting plate for installing the motor; the side of the fuselage is a Wing installation interface; there is a hatch with a hatch under the fuselage, which is used for disassembly and maintenance of airborne equipment.

The above-mentioned motor is an external rotor brushless DC motor, which is fixed on the motor mounting plate mentioned at the front end of the fuselage with screws, controlled by the airborne equipment inside the fuselage, and powered by a battery; the battery is a polymer lithium ion Battery.

The above-mentioned propeller is a positive propeller, which is installed on the pivot shaft of the motor by using a squeeze-type propeller clamp, and is driven by the motor to generate pulling force.

There are two pairs of above-mentioned landing devices, which are symmetrically fixed on the wing tip of the wing respectively. They are all circular tube structures. The furthest distance in the negative direction of the X axis.

The advantages of the present invention are:

1) The X-shaped wing layout of the present invention adopts one motor and one propeller. The size of the propeller is larger than that of the double-propeller layout, and the power efficiency is higher. The movable control surface is arranged on the trailing edge of the X-shaped wing, which increases the slip flow For the coverage of the movable control surface, under the limited geometric size, the bearing capacity and maneuverability of the aircraft are improved.

2) The aircraft has the ability to change shape. When flying at low speed, increase the angle between the upper and lower wings to make the aerodynamic rudder surface more capable of generating torque and improve the control ability; reduce the angle between the upper and lower wings during cruising flight to increase the aerodynamic lift of the wings. The direction is closer to the vertical direction, which improves the aerodynamic efficiency of cruising.

3) The morphing mechanism of the aircraft has a compact structure and precise transmission to ensure that the morphing process is completely symmetrical; only one driver is needed to drive the morphing mechanism, which saves weight and is suitable for the small size and lightweight requirements of the aircraft platform of the micro UAV system.

To sum up, the power device of the technical solution of the present invention is simpler, and the X-shaped wing layout, the corresponding movable control surface layout, and the variant mechanism can provide good performance in various flight states such as hovering, low-speed forward flight, and fast cruise flight. Its aerodynamic efficiency and maneuverability are suitable as an aircraft platform for multi-mission micro-unmanned aerial vehicle systems.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Figure 2(a), Figure 2(b) and Figure 2(c) are schematic diagrams of different states of the mixed control of the movable control surface of the present invention;

Wherein (a) is a schematic representation of the state of the pitching moment around the OY axis generated by the simultaneous deflection of the movable control surfaces on both sides of the XOZ plane in the same direction as the Z axis of the body axis system;

(b) It is a schematic representation of the rolling moment around the OX axis generated by the deflection of the movable control surfaces on both sides of the XOZ plane to different directions of the Z axis of the body axis system;

(c) It is a schematic diagram of the state of the yaw moment around the OZ axis generated by the deflection in different directions of the Z axis of the body axis system through the two movable control panels on one side of the XOZ plane.

Figure 3(a), Figure 3(b) and Figure 3(c) are schematic diagrams of the composition and positional relationship of the variant mechanism of the present invention;

Among them (a) is a simple schematic diagram of the components of the variant mechanism, the shape of each component and the positional relationship between them;

(b) is a schematic diagram of the variant mechanism viewed along the negative direction of X;

(c) is a schematic cross-sectional view at A-A shown in (b).

Explanation of reference signs:

1-wing; 2-body; 3-motor; 4-propeller; 5-movable control surface; 6-variation mechanism; 7a-first shaft; 7b-second shaft; 8-actuator; - landing gear; 10 - ball; 11 - cage; 12a - first spar; 12b - second spar; 13a - third spar; 13b - fourth spar.

Detailed ways

Referring to Fig. 1 , a variable body X-type wing vertical take-off and landing micro-aircraft comprises a fuselage 2, a wing 1, a motor 3, a propeller 4 and landing gear 9, and the fuselage 2 is along the X-axis of the body axis system. The slender cabin body is provided with an electronic governor, an autopilot, a data link, mission load airborne equipment and a battery inside; the motor 3 is arranged on the front end of the fuselage 2, and the propeller 4 is arranged on the motor 3 on the pivot; the fuselage 2, the motor 3, and the propeller 4 are all one,

Wing 1 is left-right symmetrical with respect to the XOZ plane of the body axis system, and is divided into upper and lower parts. Acute angle distribution; the upper part of the wing and the lower part of the wing all have a trapezoidal ratio and a sweep angle; the wing 1 adopts a reverse-curved airfoil, with a positive camber at the front and a negative camber at the rear, corresponding to zero pitching moment The angle of attack is positive. Under the condition of limited span, the area of the wing can be effectively increased, and at the same time, the area of the wing immersed in the slipstream zone can be increased, the energy of the slipstream zone can be more effectively utilized, and the lift of the aircraft can be increased.

In order to realize the variant, the present invention also includes a movable control surface 5 and a variant mechanism 6. The movable control surface 5 is located on the side of the fuselage 2, symmetrical to the left and right, and the total number is four pieces, respectively corresponding to the wings 1 are hinged to each other, and the control of the aircraft is realized through different control combinations of four movable control surfaces 5; The angle between the lower part of the wings to achieve the desired morph handling.

Two movable control surfaces 5 are left and right symmetrical about the XOZ plane of the body axis system. The movable control surfaces on both sides of the XOZ plane are respectively deflected to different directions of the Z axis of the body axis system to generate a rolling moment around the OX axis;

The pitching moment around the OY axis is generated by simultaneously deflecting the movable control surfaces on both sides of the XOZ plane to the same direction of the Z axis of the body axis system;

The yaw moment around the OZ axis is generated by the deflection of the two movable control surfaces on one side of the XOZ plane in different directions of the Z-axis of the body axis system, and the non-deflection of the two movable control surfaces on the other side of the XOZ plane.

One motor is used to match the corresponding propeller to provide power. Compared with the aircraft powered by dual motors and double propellers, the size of the propeller of this aircraft is larger, so that the area of the movable control surface immersed in the slipstream area of the propeller is larger, and the aircraft contains Four movable control surfaces further increase the area of movable control surfaces in the slipstream area. Therefore, the influence of the propeller slipstream on the aerodynamic force generated by the movable control surface is more significant, and a small deflection adjustment of the movable control surface can provide sufficient control torque and higher efficiency, especially increasing the Controllability.

When the included angle between the upper anti-wing and the lower anti-wing is zero through the modification mechanism 6, that is, the modification is a single wing, and the lift-to-drag ratio increases. Therefore, under the same power conditions, a higher flight speed can be obtained, a larger speed range can be covered, and a larger range of cruise can be realized in a short time.

The wing 1 is a hollow shell structure with ribs and beams arranged inside. There is an opening below the middle of the wing 1 for installing a digital steering gear for manipulation.

The fuselage 2 is a hollow shell structure, with beams and reinforcement frames arranged inside; the airborne equipment and batteries are arranged inside the fuselage 2 according to the design results; the front end of the fuselage 2 is a motor mounting plate for installing the motor 3; 2 The side is the installation interface of the wing 1; the bottom of the fuselage 2 has a hatch with a hatch, which is used for the disassembly and maintenance of the airborne equipment.

The motor 3 is an outer rotor brushless DC motor, fixed on the motor mounting plate at the front end of the fuselage 2 with screws, controlled by the airborne equipment inside the fuselage 2, and powered by a battery.

The propeller 4 is a positive propeller, which is installed on the pivot shaft of the motor 3 by using a squeeze-type paddle clamp, and is driven by the motor 3 to generate pulling force.

There are two pairs of landing gear 9, which are respectively symmetrically fixed to the wing tip of the wing 1. They are all circular tube structures. The furthest distance in the negative direction of the X-axis of the axis system. In this way, with the support of the landing gear, the aircraft can be parked on the ground with the posture that the X axis of the body axis system is parallel to the Z axis of the ground axis system.

The mixed control mode of the movable control surface of the present invention will be described below with reference to FIG. 2 .

The aircraft includes four movable control surfaces 5 , which are respectively hinged to the trailing edge of the corresponding wing 1 . Through the simultaneous deflection of the movable control surfaces 5 on both sides of the XOZ plane to the same direction of the Z axis of the body axis system, a pitching moment around the OY axis is generated, as shown in Fig. 2 (a); The deflection of the Z axis of the body axis in different directions produces a rolling moment around the OX axis, as shown in Figure 2(b); the two movable control surfaces 5 on one side of the XOZ plane deflect in different directions of the Z axis of the body axis A yaw moment around the OZ axis is generated, as shown in Fig. 2(c). Independently control the deflection direction and deflection angle of the four movable control surfaces 5 according to the above method, and use the three control modes in combination to realize the control of the flight attitude, and simultaneously complete vertical take-off and landing, level flight, hovering and level flight and Interchange between hovers.

The composition and variant mode of the variant mechanism of the present invention will be described below in conjunction with accompanying drawing 3 .

The two first rotating shafts 7a and the second rotating shaft 7b of the variant mechanism 6 are affixed to the fuselage 2, and their centerlines are located in the XOZ plane and parallel to the X axis; The ends of the first spar 12a and the third spar 13a are hinged, the thickness of the hinged position at the end of the first spar 12a and the third spar 13a is smaller than the middle section of the spar, and the end of the first spar 12a is an involute tooth shape, the tooth-shaped indexing circle center is located on the center line of the first rotating shaft 7a; the shape and size of the second rotating shaft 7b and the second spar 12b and the fourth spar 13b on both sides of the upper part of the wing and the cage 11 And the connection relationship is consistent with the first rotating shaft 7a and the first spar 12a, the third spar 13a and the cage 11 on both sides of the lower part of the wing; see Figure 3 (a); the first spar 12a and the third A plurality of balls 10 and a cage 11 are sandwiched in the gap formed in the thickness direction of the spar end of the spar 13a. The cage 11 is a disc with circular holes distributed in a ring and is fixed on the first rotating shaft 7a. 10 is placed in the round hole of the cage 11, the diameter of the ball 10 is such that the ball 10 is in contact with the first spar 12a and the third spar 13a at the same time, as shown in Figure 3(c); the actuator 8 is one Servomotor, an involute gear is fixedly connected on the pivot of the servomotor, the diameter of the gear index circle is the same as that of the first spar 12a, and the involute tooth shape of the end of the gear and the second spar 12b is the same as that of the first spar 12b. An involute tooth mesh at the end of a spar 12a is shown in Figure 3(b). When the output shaft of the servo motor rotates, the first spar 12a with the involute tooth profile on the lower part is driven to rotate around the first rotating shaft 7a through gear transmission, and the first spar 12a with the involute tooth profile on the lower part is driven by gear meshing. The second spar 12b with an involute tooth shape on the upper part rotates reversely around the second rotating shaft 7b and drives the third spar 13a on the other side of the lower part to reversely rotate around the first rotating shaft 7a through the clamped ball 10. Part of the second spar 12b with an involute tooth shape drives the fourth spar 13b on the other side to reversely rotate around the second rotating shaft 7b to realize variant manipulation.

The airborne equipment and connections of the aircraft are as follows: the motor 3 is connected to an electronic governor, and the signal lines of the electronic governor and the digital steering gear are connected to the autopilot. The autopilot is bidirectionally connected with the data link; the mission equipment is a digital image sensor, which is connected with the data link. The motor 3, electronic governor, digital steering gear, autopilot, data link and digital image sensor are all powered by polymer lithium-ion batteries.

The data flow of the aircraft is as follows: the data link receives the control command from the ground station and sends it to the autopilot, and the autopilot generates a control signal after processing, changes the speed of the motor 3 through the electronic governor, and controls the movable control through four digital steering gears The deflection of face 5, the variant of the wing is controlled by two digital servos. The autopilot sends the telemetry data to the data link, the digital image sensor acquires the image and sends it to the data link, and the data link sends the telemetry data and the image to the ground station.

According to the needs of the task, the aircraft manipulates the variant mechanism 6 through the data flow, changes the angle between the upper and lower wings, and increases the angle between the upper and lower wings when flying at low speed, so that the ability of the aerodynamic rudder surface to generate torque is stronger and the control ability is improved; Cruise When flying, the angle between the upper and lower wings is reduced, so that the direction of the aerodynamic lift of the wing 1 is closer to the vertical direction, and the cruise aerodynamic efficiency is improved.

The typical tasks of the aircraft are as follows: take off vertically, and after reaching the predetermined mission altitude, deflect the movable control surface 5 under the control of the autopilot, adjust the power, transfer from the hovering flight state to the cruising flight state, and simultaneously the variant mechanism 6 is actuated , reduce the angle between the upper and lower wings, improve the efficiency of cruising flight, carry out route flight, and after reaching the sky above the mission area, deflect the movable control surface and adjust the power under the control of the autopilot, and transfer from the cruising flight state to hovering flight At the same time, the variant mechanism operates to increase the angle between the upper and lower wings, improve the maneuverability of the movable control surface in the hovering state, hover stably over the target area, and the digital image sensor acquires images. After the mission is over, turn from hovering to cruising flight state to return, reach the vicinity of the landing area, turn to hovering state, and slowly descend the altitude to land.

Claims (10)

1. A variable body X-wing vertical take-off and landing micro-aircraft, comprising a fuselage (2), wings (1), motors (3), propellers (4) and landing gear (9), the fuselage (2) is a slender cabin body along the X-axis of the body axis system, and is equipped with an electronic governor, an autopilot, a data link airborne terminal, task load airborne equipment, and a battery inside; the motor (3) is set At the front end of the fuselage (2), the propeller (4) is arranged on the pivot of the motor (3); the fuselage (2), the motor (3), and the propeller (4) are all one, and the motor (3) Connect the electronic governor, the signal line of the electronic governor is connected with the autopilot, and the autopilot is connected with the data link airborne terminal in two directions; the task load airborne equipment is a digital image sensor, which is connected with the data link airborne terminal connected; the motor (3), electronic governor, autopilot, data link airborne terminal and digital image sensor are all powered by batteries; It is characterized in that: the wing (1) is left-right symmetrical with respect to the XOZ plane of the body axis system, and is divided into upper and lower parts. The upper part of the wing is turned upside down, and the lower part of the wing is turned down. The upper and lower wings on the same side of the aircraft are distributed at acute angles; both the upper and lower wings have trapezoidal ratios and sweep angles; the wing (1) adopts a reverse-curved airfoil, and its front part has a positive camber , the rear portion has negative camber, and the angle of attack corresponding to zero pitching moment is positive. 2. According to claim 1, said variable body X-wing vertical take-off and landing micro air vehicle is characterized in that: it also includes a movable control surface (5) and a deformation mechanism (6), and said movable control surface (5 ) is located on the side of the fuselage (2), symmetrical to the left and right, with a total of four pieces, which are respectively hinged with the corresponding wings (1), and the control of the aircraft is realized through different control combinations of the four movable control surfaces (5) ; The variant mechanism (6) is set inside the fuselage (2), and can be driven by the actuator (8) to synchronously adjust the angle between the upper part of the wing and the lower part of the wing to achieve the required Variant manipulation. 3. According to claim 2, the variable-body X-wing vertical take-off and landing micro-aircraft is characterized in that: two movable control surfaces (5) are left and right symmetrical with respect to the XOZ plane of the body axis system, and two through the XOZ plane. The side movable control surface deflects to different directions of the Z axis of the body axis system to generate a rolling moment around the OX axis; The pitching moment around the OY axis is generated by simultaneously deflecting the movable control surfaces on both sides of the XOZ plane to the same direction of the Z axis of the body axis system; The yaw moment around the OZ axis is generated by the deflection of the two movable control surfaces on one side of the XOZ plane in different directions of the Z-axis of the body axis system, and the non-deflection of the two movable control surfaces on the other side of the XOZ plane. 4. According to the variable body X-wing vertical take-off and landing micro air vehicle according to claim 3, it is characterized in that: the deformation mechanism (6) includes a first rotating shaft (7a), a second rotating shaft (7b), a ball ( 10) and the cage (11), the first rotating shaft (7a) and the second rotating shaft (7b) are respectively fixed on the fuselage (2), the center line of which is located in the XOZ plane and parallel to the X axis; The first rotating shaft (7a) hinges the ends of the first spar (12a) and the third spar (13a) on both sides of the lower part of the wing, and the first spar (12a) and the third spar (13a) The thickness of the hinged position of the end is smaller than the middle section of the spar, and there are several balls (10) and cages (11) in the gap formed in the thickness direction of the ends of the two spars. The cage (11) is a circle with circular holes. piece, fixed on the first shaft (7a), the ball (10) is placed in the round hole of the cage (11), the diameter of the ball (10) makes the ball (10) and the first spar at the same time (12a) is in contact with the third spar (13a); the end of the first spar (12a) is an involute tooth shape, and the center of the pitch circle of the tooth shape is located on the center line of the first rotating shaft (7a); The shape, size and connection relationship of the second rotating shaft (7b), the second spar (12b) and the fourth spar (13b) on both sides of the upper part of the wing and the cage (11) are the same as those of the first rotating shaft (7a ) are consistent with the first spar (12a) and the third spar (13a) and the cage (11) on both sides of the lower part of the wing; The actuator (8) is a servo motor, and an involute gear is fixedly connected to the pivot of the servo motor. The diameter of the pitch circle of the gear is the same as that of the first spar (12a). The gear and the second wing The involute toothing at the ends of the beams (12b) each meshes with the involute toothing at the end of the first spar (12a). 5. According to claim 4, the variable-body X-wing vertical take-off and landing micro-aircraft is characterized in that: when the angle between the upper part of the wing and the lower part of the wing is zero through the morphing mechanism (6), , that is, the variant is a single wing, and the lift-to-drag ratio is increased. 6. According to any one of claims 1 to 5, the X-shaped vertical take-off and landing micro-aircraft with variable body is characterized in that: the wing (1) is a hollow shell structure with ribs and beams arranged inside , there is an opening below the middle part of the wing (1), which is used to install the digital steering gear used for manipulation. 7. According to claim 6, the micro-aircraft with variable body X-wing vertical take-off and landing is characterized in that: the fuselage (2) is a hollow shell structure, and beams and reinforcement frames are arranged inside; the fuselage (2) ) inside according to the design results to arrange airborne equipment and batteries; the front end of the fuselage (2) is a motor mounting plate for installing the motor (3); the side of the fuselage (2) is the installation interface of the wing (1); There is a hatch with a hatch under (2), which is used for disassembly and maintenance of airborne equipment. 8. According to claim 7, the variable body X-wing vertical take-off and landing micro-aircraft is characterized in that: the motor (3) is an outer rotor brushless DC motor, which is fixed to the front end of the fuselage (2) by screws. The above-mentioned motor mounting plate is controlled by the airborne equipment inside the fuselage (2), and the battery provides energy; the battery is a polymer lithium-ion battery. 9. The variable-body X-wing vertical take-off and landing micro-aircraft according to claim 8, characterized in that: the propeller (4) is a positive propeller, which is installed on the motor (3) using a squeeze-type propeller clip. On the pivot, it is driven by the motor (3) to generate pulling force. 10. According to the variable body X-wing vertical take-off and landing micro-aircraft according to claim 9, it is characterized in that: the landing gear (9) is two pairs, which are symmetrically fixed to the wings of the wing (1) respectively. The tips are all circular tube structures, and the farthest distance of the circular tube structure in the negative direction of the X-axis of the body axis system is not less than the farthest distance of the wing (1) in the negative direction of the X-axis of the body axis system.