A vertical tail surface movement mechanism with guide rail limiting and guiding and a UAV

Abstract

This invention provides a vertical tail control surface motion mechanism with guide rail limiting and guidance, and an unmanned aerial vehicle (UAV), relating to the field of aerospace vehicle control system technology. The mechanism uses the metal part of the vertical tail connector as the installation reference. A linear servo is hinged and fixed via a servo base. The linear servo push rod is connected to a guide pin. The lower part of the guide pin is embedded in the arc-shaped guide groove of a copper guide rail, and the upper part is hinged to the control surface linkage rocker arm. The control surface linkage rocker arm is rigidly connected to the control surface hinge shaft. This invention uses a copper guide rail to provide full-stroke directional constraint and limiting for the guide pin, significantly compressing the mechanism's motion envelope, adapting to the compact installation space of a thin vertical tail, eliminating transmission backlash, and improving control surface deflection accuracy and motion smoothness. It has the advantages of compact structure, precise operation, resistance to jamming, long service life, and convenient maintenance, and is particularly suitable for the vertical tail rudder control system of small fixed-wing UAVs and light aircraft.

Description

Technical Field

[0001] This invention relates to the field of aerospace vehicle control system technology, and particularly to a vertical tail control surface motion mechanism with guide rail limiting and guidance, and an unmanned aerial vehicle (UAV). It is especially suitable for thin vertical tail control systems of small fixed-wing UAVs and lightweight aircraft with offset angles in both the Y and Z directions. Background Technology

[0002] The vertical tail is the core aerodynamic control component of a fixed-wing aircraft, and its built-in control surface motion mechanism directly determines the heading control accuracy and flight stability. Currently, the mainstream vertical tail control surface motion mechanism adopts a "linear servo + multi-link rocker arm" structure, requiring the servo and transmission components to be integrated into the vertical tail cavity. Multiple sets of articulated links and rocker arms convert the servo's linear output into control surface deflection. This type of mechanism has significant drawbacks: it has a large range of motion, requires ample clearance for maneuvering, is prone to interference with surrounding structures, and is completely unsuitable for thin vertical tails. Furthermore, the multi-link articulated structure has accumulated transmission backlash, resulting in low control accuracy and a tendency for movement to stall, affecting the aircraft's flight stability and control precision.

[0003] In summary, there is an urgent need to design a vertical tail control surface motion mechanism and UAV with guide rail limit guidance to overcome the above-mentioned technical problems. Summary of the Invention

[0004] The purpose of this invention is to solve the problems of large space occupation, high installation requirements, low operation accuracy and easy jamming of existing vertical tail control surface motion mechanisms, and to propose a vertical tail control surface motion mechanism with guide rail limit guidance and UAV.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a vertical tail control surface motion mechanism with guide rail limiting guidance, comprising: Linear servo motor, servo surface linked rocker arm, and servo surface hinge shaft; It also includes a vertical tail connector metal part, and the linear servo is hinged to one side of the upper surface of the vertical tail connector metal part via a servo base; A copper guide rail is fixedly installed on the other side of the upper surface of the metal part of the vertical tail connector. An arc-shaped guide groove is opened on the copper guide rail. A guide pin is slidably arranged in the arc-shaped guide groove. The push rod of the linear servo is hinged to one end of the guide pin. One side wall of the guide pin is hinged to one end of the rudder surface linkage rocker arm, and the other end of the rudder surface linkage rocker arm is rigidly connected to the rudder surface hinge shaft. The rudder surface hinge shaft is rotatably mounted on the vertical tail joint metal part, and its other end extends through the lower surface of the vertical tail joint metal part and is rigidly connected to the vertical tail rudder.

[0006] The objectives of this invention and the technical problems it addresses can be further achieved by the following technical measures.

[0007] Optionally, the servo base is provided with a fisheye bearing, and the base of the linear servo is hinged to the fisheye bearing through a servo hinge pin.

[0008] Optionally, one end of the rudder-mounted rocker arm is connected between the copper guide rail and the push rod of the linear servo, and the rudder-mounted rocker arm is hinged to the guide pin shaft via a fisheye bearing.

[0009] Optionally, when the push rod of the linear servo extends, the guide pin slides to the farthest end of the arc-shaped guide groove, causing the servo surface to reach the maximum positive deflection position; when the push rod of the linear servo retracts, the guide pin slides to the nearest end of the arc-shaped guide groove, causing the servo surface to reach the maximum reverse deflection position.

[0010] Optionally, the guide pin and the arc-shaped guide groove of the copper guide rail are in a clearance sliding fit, and the copper guide rail is a self-lubricating copper component.

[0011] Optionally, the rudder hinge shaft is rotatably connected to the tail section metal component via a bearing.

[0012] An unmanned aerial vehicle (UAV) includes the aforementioned vertical tail control surface motion mechanism; The vertical tail control surface motion mechanism is installed on the vertical tail of the UAV. The vertical tail connector metal part is fixedly connected to the tail of the UAV fuselage and the vertical tail stabilizer. The vertical tail rudder serves as the rudder of the UAV and is used to achieve heading control.

[0013] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention discloses a vertical tail control surface motion mechanism with guide rail limiting and guidance. Through the rigid constraint of the copper guide rail, the spatial movable range of the transmission mechanism can be compressed, eliminating the need for a large amount of clearance space. Therefore, it can adapt to compact installation scenarios and expand the design space of the vertical tail aerodynamic shape. The copper guide rail provides full-stroke directional constraint for the control surface transmission, effectively improving the control surface deflection control accuracy, thereby enhancing the aircraft's directional control stability and flight control accuracy. Simultaneously, the overall mechanism adopts a closed transmission structure supported by guide rails, integrating the core transmission and guidance functions into the copper guide rail and slider assembly, reducing the number of parts and simplifying the assembly process. Furthermore, the copper guide rail has self-lubricating properties, resulting in low wear, long service life, and a simple structure that is easy to maintain. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the vertical tail control surface motion mechanism with guide rail limiting and guiding provided by the present invention; Figure 2 This is a partial structural diagram of the rudder surface when it reaches the maximum reverse deflection position in an embodiment of the present invention; Figure 3 This is a partial structural diagram of the rudder surface when it reaches the maximum positive deflection position in an embodiment of the present invention; Figure 4 This is a partial structural diagram of the rudder surface maintaining a neutral position in an embodiment of the present invention; Figure 5 This is a partial structural diagram of the connection between the linear servo and the metal part of the vertical tail connector in an embodiment of the present invention; Explanation of reference numerals in the attached figures: 1. Metal parts for the vertical tail connector; 2. Servo mount; 3. Guide pin; 4. Servo hinge nut; 5. Linear servo; 6. Guide pin; 7. Guide pin nut; 8. Rudder surface coupled with rocker arm; 9. Servo mount; 10. The rudder surface is hinged to the pivot shaft. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0016] like Figures 1 to 5 As shown, a vertical tail control surface motion mechanism with guide rail limiting and guiding includes: Linear servo motor 5, servo surface linked rocker arm 8, and servo surface hinge shaft 10; It also includes a vertical tail connector metal part 1, and the linear servo 5 is hinged to one side of the upper surface of the vertical tail connector metal part 1 via the servo base 2; the vertical tail connector metal part 1 serves as the core mounting reference, connecting the fuselage, vertical tail and control surface respectively. A copper guide rail 9 is fixedly installed on the other side of the upper surface of the metal part 1 of the vertical tail connector. An arc-shaped guide groove is provided on the copper guide rail 9. A guide pin 6 is slidably provided in the arc-shaped guide groove. The push rod of the linear servo 5 is hinged to one end of the guide pin 6. One side wall of the guide pin 6 is hinged to one end of the rudder surface linkage rocker arm 8, and the other end of the rudder surface linkage rocker arm 8 is rigidly connected to the rudder surface hinge shaft 10. The rudder surface hinge shaft 10 is rotatably mounted on the vertical tail connector metal part 1, and its other end protrudes through the lower surface of the vertical tail connector metal part 1 and is rigidly connected to the vertical tail rudder. Specifically, the vertical tail connector metal part 1 has a mounting hole, and the rudder surface hinge shaft 10 is rotatably connected to the mounting hole.

[0017] Optionally, the servo base 2 is equipped with a fisheye bearing, and the base of the linear servo 5 is hinged to the fisheye bearing via a servo hinge pin 3. The fisheye bearing is embedded inside the servo base 2, with its outer ring having an interference fit with the mounting hole of the servo base 2 and its inner ring having a clearance fit with the servo hinge pin 3. The base of the linear servo 5 is inserted into the fisheye bearing via the servo hinge pin 3, and one end of the servo hinge pin 3 is locked in place by a servo hinge nut 4, forming a swingable drive support structure to ensure that the linear servo 5 moves without jamming or interference.

[0018] Optionally, one end of the rudder-mounted rocker arm 8 is connected between the copper guide rail 9 and the push rod of the linear servo 5, and the rudder-mounted rocker arm 8 and the guide pin 6 are hinged by a fisheye bearing. Specifically, the guide pin 6 is connected to the threaded hole at the end of the push rod of the linear servo 5 by a thread, and the guide pin 6 has a hinge hole in the middle. It is hinged to one end of the rudder-mounted rocker arm 8 by a fisheye bearing. The inner ring of the fisheye bearing is interference-fitted with the guide pin 6, and the outer ring is clearance-fitted with the hinge hole of the rudder-mounted rocker arm 8, allowing angle compensation within a small angle range. The lower part of the guide pin 6 is a smooth cylindrical surface, which fits in the arc-shaped guide groove of the copper guide rail 6 to ensure smooth sliding without jamming. After the upper threaded section of the guide pin 9 is connected to the push rod of the linear servo 5, it is locked by the guide pin nut 7 to further enhance the reliability of the connection.

[0019] Optionally, when the push rod of the linear servo 5 extends, the guide pin 6 slides to the farthest end of the arc-shaped guide groove, causing the servo surface to reach the maximum positive deflection position. When the push rod of the linear servo 5 retracts, the guide pin 6 slides to the nearest end of the arc-shaped guide groove, causing the servo surface to reach the maximum reverse deflection position.

[0020] Optionally, the guide pin 6 and the arc-shaped guide groove of the copper guide rail 9 are in a clearance sliding fit, and the copper guide rail 9 is a self-lubricating copper component. The lower part of the guide pin 6 is embedded in the arc-shaped guide groove of the copper guide rail 9, and the copper guide rail 9 constrains the movement path of the guide pin 6 throughout its entire range, limiting the unnecessary degrees of freedom of the mechanism; the two ends of the arc-shaped guide groove are limiting points, limiting the maximum deflection position of the control surface.

[0021] Optionally, the rudder hinge shaft 10 is rotatably connected to the tail joint metal part 1 via a bearing to achieve smooth rotation.

[0022] An unmanned aerial vehicle (UAV) includes the aforementioned vertical tail control surface motion mechanism; The vertical tail control surface motion mechanism is installed on the vertical tail of the UAV. The vertical tail connector metal part 1 is fixedly connected to the tail of the UAV fuselage and the vertical tail stabilizer. The vertical tail rudder serves as the rudder of the UAV and is used to achieve heading control.

[0023] The working principle of this mechanism is as follows: During operation, the flight control system sends a deflection command to the linear servo 5. The push rod of the linear servo 5 drives the guide pin 6 to slide directionally along the arc-shaped guide groove of the copper guide rail 9. Through the control surface and rocker arm 8, the linear motion is converted into the rotation of the control surface hinge shaft 10, which in turn drives the rudder surface to complete precise deflection, realizing the heading control of the aircraft. The copper guide rail 9 constrains the movement path of the guide pin 6 throughout the entire process, limiting the unnecessary degrees of freedom of the mechanism. In level flight, the guide pin 6 is located at the midpoint of the arc-shaped guide groove of the copper guide rail 9, and the control surface remains in a neutral position. Figure 3 As shown; when the linear servo 5 push rod extends, the guide pin 6 slides along the copper guide rail 9 to the limit position at one end of the groove (i.e., the farthest end), and the servo surface reaches the maximum positive deflection position, as shown. Figure 4 As shown; when the linear servo 5 push rod retracts, the guide pin 6 slides along the copper guide rail 9 to the limit position at the other end of the groove (i.e., the closest end), and the servo surface reaches the maximum reverse deflection position, as shown. Figure 2 As shown.

[0024] The present invention has been further described above with reference to the embodiments, but the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A vertical tail control surface motion mechanism with guide rail limiting and guiding, comprising a linear servo motor (5), a control surface coupled rocker arm (8), and a control surface hinge shaft (10), characterized in that: It also includes a vertical tail connector metal part (1), and the linear servo (5) is hinged to one side of the upper surface of the vertical tail connector metal part (1) via the servo base (2). A copper guide rail (9) is fixedly installed on the other side of the upper surface of the metal part (1) of the vertical tail connector. An arc-shaped guide groove is provided on the copper guide rail (9). A guide pin (6) is slidably provided in the arc-shaped guide groove. The push rod of the linear servo (5) is hinged to one end of the guide pin (6). One side wall of the guide pin (6) is hinged to one end of the rudder surface linkage rocker arm (8), and the other end of the rudder surface linkage rocker arm (8) is rigidly connected to the rudder surface hinge shaft (10). The rudder surface hinge shaft (10) is rotatably mounted on the vertical tail connector metal part (1), and its other end extends through the lower surface of the vertical tail connector metal part (1) and is rigidly connected to the vertical tail rudder.

2. The vertical tail surface movement mechanism with guide rail limiting and guiding according to claim 1, characterized in that: The servo base (2) is equipped with a fisheye bearing, and the base of the linear servo (5) is hinged to the fisheye bearing through the servo hinge pin (3).

3. The vertical tail surface movement mechanism with guide rail limiting and guiding according to claim 1, characterized in that: One end of the rudder-mounted rocker arm (8) is connected between the copper guide rail (9) and the push rod of the linear servo motor (5), and the rudder-mounted rocker arm (8) and the guide pin (6) are hinged by a fisheye bearing.

4. The vertical tail surface movement mechanism with guide rail limiting and guiding according to claim 1, characterized in that: When the push rod of the linear servo (5) extends, the guide pin (6) slides to the farthest end of the arc-shaped guide groove, causing the rudder surface to reach the maximum positive deflection position. When the push rod of the linear servo (5) retracts, the guide pin (6) slides to the nearest end of the arc-shaped guide groove, causing the rudder surface to reach the maximum reverse deflection position.

5. The vertical tail control surface motion mechanism with guide rail limiting and guiding according to claim 1, characterized in that: The guide pin (6) and the arc-shaped guide groove of the copper guide rail (9) are in clearance sliding fit, and the copper guide rail (9) is a self-lubricating copper component.

6. The vertical tail control surface motion mechanism with guide rail limiting and guiding according to claim 1, characterized in that: The rudder hinge shaft (10) is rotatably connected to the tail joint metal part (1) via a bearing.

7. An unmanned aerial vehicle (UAV), characterized in that: Includes the vertical tail control surface motion mechanism as described in any one of claims 1-6; The vertical tail control surface motion mechanism is installed on the vertical tail of the UAV. The vertical tail connector metal part (1) is fixedly connected to the tail of the UAV fuselage and the vertical tail stabilizer. The vertical tail rudder serves as the rudder of the UAV and is used to achieve heading control.

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