Wing tip connection structure of combined UAV

Abstract

The present invention discloses a wingtip connection structure of a modular unmanned aerial vehicle, including: a guide rail is set in the chord direction of the first wingtip of each single unit in the modular unmanned aerial vehicle, and a slot is set in the chord direction of the second wingtip of each single unit; a flexible connection component is set inside the guide rail and moves along the guide rail under the action of external force; a rotating electromagnetic damper is set inside the slot; and the rotating electromagnetic damper is adaptively connected to the flexible connection component to achieve flexible connection of wingtips between different single units; and a rigid column pin, whose head has a taper and is set on the first wingtip; a column pin hole, whose orifice has a taper and is set on the second wingtip; and the rigid column pin and the column pin hole are adaptively connected to achieve rigid connection of wingtips between different single units. The wingtip connection structure of the modular unmanned aerial vehicle adopted by the present invention can automatically adjust the flexible connection or rigid connection according to the wind force, and has the advantages of flexible and variable connection mode, convenient operation, strong stability, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a wingtip connection structure of a combined unmanned aerial vehicle. Background Art

[0002] Small fixed-wing UAVs (wingspan between 0.5m and 2m) have the characteristics of small size, light weight, low cost, easy operation, maneuverability, low noise, good concealment, and easy networking. They have broad application prospects in both civil and military fields, such as short-distance urban logistics transportation, power inspection, disaster monitoring and investigation, swarm warfare, and distributed reconnaissance. However, due to the light weight and small inertia of a single UAV platform, the stability and wind resistance of the aircraft are relatively weak. In addition, due to the small aspect ratio and large induced drag of small fixed-wing UAVs, the range and flight time are shortened, which is not conducive to performing long-duration and long-distance flight missions. Based on the principles of bionics and aerodynamics, an effective solution is to connect the wingtips of multiple small fixed-wing UAVs together to form a detachable combined fixed-wing UAV.

[0003] The connection technology between the wings of two adjacent drones is the key technology of combined drones. The existing connection methods are mainly magnetic rigid connection and mechanical rigid connection. The drones combined by this rigid connection form are equivalent to a large aspect ratio drone. The advantage is that it can extend the flight range, but its most prominent problem is poor wind resistance. Moreover, this rigid connection will cause the wing tip to bear a large aerodynamic load, which is prone to breakage accidents. Summary of the invention

[0004] The object of the present invention is to provide a wingtip connection structure of a combined UAV, which at least partially solves the technical problems raised above.

[0005] The specific technical solution is:

[0006] The present invention provides a wingtip connection structure of a combined UAV, which mainly includes:

[0007] In the combined UAV, a guide rail is provided in the chord direction of the first wing tip of each single unit, and a slot is provided in the chord direction of the second wing tip of each single unit;

[0008] The flexible connection component is arranged inside the guide rail and moves left and right along the guide rail under the action of external force;

[0009] A rotary electromagnetic damper is arranged inside the card slot;

[0010] Furthermore, the rotary electromagnetic damper is adaptively connected to the flexible connection assembly to achieve flexible connection of wing tips between different single aircraft; and

[0011] A rigid pin having a tapered head and disposed on the first wing tip;

[0012] A pin hole, the opening of which is tapered, is provided on the second wing tip;

[0013] Moreover, the rigid column pin and the column pin hole are adaptively connected to achieve the rigid connection of the wing tips between different single machines.

[0014] In some embodiments, the guide rail further includes:

[0015] A stepper motor is fixed at the bottom of the guide rail;

[0016] The screw pair includes a lead screw and a lead screw nut. The lead screw is connected to the stepper motor through a coupling, and the lead screw nut is fixedly connected to the flexible connection component.

[0017] Furthermore, the flexible connection assembly includes:

[0018] A left connecting piece connected to the lead screw nut;

[0019] A flexible hollow column is sleeved on the lead screw. In some embodiments, the flexible hollow column is made of elastic rubber material;

[0020] The right connecting piece is connected to a boss. In some embodiments, the boss is an external hexagonal boss made of magnetic conductive material.

[0021] In some embodiments, the rotary electromagnetic damper comprises:

[0022] The rotating part is matched and connected with the boss of the flexible connection component. Furthermore, the rear end of the rotating part is also connected with a plane scroll spring, and the plane scroll spring and the rotary electromagnetic damper are both installed in the slot after being connected;

[0023] The fixing part is used to fix the rotary electromagnetic damper inside the card slot;

[0024] The limit pin controls the maximum pitch angle when the individual units of the combined UAV are flexibly connected.

[0025] In some embodiments, the wingtip connection between each unit of the combined UAV is automatically adjusted to a flexible connection or a rigid connection according to the wind speed, and the strength of the flexible connection is automatically adjusted according to the wind force level.

[0026] In some embodiments, when the rotating electromagnetic damper is powered on, its rotating part generates electromagnetic force, through which the rotating part and the boss of the flexible connection component are attracted and connected; when the rotating electromagnetic damper is powered off, the electromagnetic force disappears and the connection between the rotating part and the boss is disconnected.

[0027] Compared with other technologies, the wingtip connection structure of the combined UAV provided by the present invention has the following beneficial effects:

[0028] (1) The present invention adds a flexible connection mode for the wing tip, which eliminates the disadvantage of easy breakage in the previous rigid connection;

[0029] (2) The present invention combines the use of flexible connection and rigid connection to realize a new type of wingtip connection mode. The optimal flight performance of the UAV assembly can be brought into play through the conversion of rigid connection and flexible connection. At the same time, the connection flexibility can be automatically adjusted according to different wind force levels. The rotary electromagnetic damper and the plane scroll spring are used to achieve vibration reduction and self-stabilization.

[0030] (3) The present invention is provided with a rotating electromagnetic damper, which can absorb the energy generated by the gusts during the rotation process, and play a role in buffering and reducing vibration, thereby suppressing the maximum overshoot of the pitch angle of the UAV and preventing the UAV from stalling; the present invention is also provided with a planar scroll spring, and the restoring torque of the spring can offset the pitch angle difference between two adjacent UAVs;

[0031] (4) The wingtip connection structure of the present invention has the advantages of both rigid connection and flexible connection. During takeoff and cruising, the wings of multiple drones are connected together. When there is no wind or the wind is weak, the wings of two adjacent drones are rigidly connected through positioning pins and electromagnets to extend the flight range and flight time. When encountering strong gusts, the flexible connection between the two wings is achieved through a flexible connection component to improve the wind resistance of the drone assembly.

[0032] (5) The wingtip connection structure of the present invention cuts off the power supply of the rotating electromagnetic damper during the mission execution phase, thereby realizing the disassembly of the UAVs, and each UAV performs the mission independently. It has the advantages of variable connection mode, simple operation, complete functions, and high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a disassembled view of an assembly of a wing tip connection structure according to an embodiment of the present invention;

[0034] Figure 2 It is a schematic diagram of the connection end surface of the left wing in the wing tip connection structure according to one embodiment of the present invention;

[0035] Figure 3 It is a schematic diagram of the connection end surface of the right wing in the wing tip connection structure according to one embodiment of the present invention;

[0036] Figure 4 is a schematic diagram of a flexible connection assembly in one embodiment of the present invention;

[0037] Figure 5A-Figure 5B is a schematic diagram of a rotary electromagnetic damper according to an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of a rigid connection between two wings of a combined drone according to an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of a rigid assembly of multiple small UAVs according to an embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of the flexible connection between two wings of a combined UAV according to an embodiment of the present invention;

[0041] Fig. 9 A schematic diagram of a flexible combination of multiple small UAVs according to an embodiment of the present invention;

[0042] Fig.10 This is a schematic diagram of a wingtip of a modular UAV after being disassembled with power cut off according to an embodiment of the present invention.

[0043] In the figure:

[0044] Left wing 1 Stepper motor 2 Coupling 3

[0045] Lead screw 4 Lead screw nut 5 Flexible connection assembly 6

[0046] Rotating electromagnetic damper 7 Plane scroll spring 8 Right wing 9

[0047] Rigid pins 11, 13 Guide rails 12 Pin holes 91, 93

[0048] Slot 92 Left connecting piece 61 Flexible hollow column 62

[0049] Right connecting piece 63 External hexagonal boss 64 Rotating part 71

[0050] Rotation limit pins 72, 73 Same as limit pin 74 Fixed part 75 DETAILED DESCRIPTION

[0051] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. The described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] The device technology designed in the present invention enables the combined UAV to be assembled and disassembled as needed. When there is no wind or the wind force is low, a rigid connection is used, and the two wings of adjacent UAVs are tightly connected together through positioning pins and electromagnets, which can maximize the range and flight time; when encountering strong gusts, the two wings are converted into a flexible connection, and the influence of gusts on the stability of the UAV can be well eliminated through the flexible combination, the rotating electromagnetic damper and the planar scroll spring; when arriving at the mission area to perform the mission, the two UAVs are disassembled in the air through electromagnetic force control, and each UAV performs the predetermined task separately.

[0053] In view of this, an embodiment of the present invention provides a wingtip connection structure of the combined UAV, including:

[0054] In the combined UAV, a guide rail is provided in the chord direction of the first wing tip of each single unit, and a slot is provided in the chord direction of the second wing tip of each single unit;

[0055] The flexible connection component is arranged inside the guide rail and moves left and right along the guide rail under the action of external force;

[0056] A rotary electromagnetic damper is arranged inside the card slot;

[0057] Moreover, the rotary electromagnetic damper is adaptively connected to the flexible connection component to achieve flexible connection of the wing tips between different single machines.

[0058] It should be noted that, in the present embodiment, the first wing tip and the second wing tip respectively represent the wing tips of the two side wings of a single aircraft. In the specific implementation process, there is no special limitation on setting a guide rail or a slot on the first wing tip, or setting a slot or a guide rail on the second wing tip. The purpose is to achieve a flexible connection between the single aircraft in the combined UAV through the flexible connection component in the guide rail and the rotating electromagnetic damper in the slot. The flexibility of the flexible connection varies depending on the length of the flexible connection component exposed to the guide rail. The longer the length, the stronger the flexibility.

[0059] Based on the above implementation manner, the wingtip connection structure of the combined UAV in this embodiment may further include:

[0060] A rigid pin having a tapered head and disposed on the first wing tip;

[0061] A pin hole, the opening of which is tapered, is provided on the second wing tip;

[0062] Moreover, the rigid column pin and the column pin hole are adaptively connected to achieve the rigid connection of the wing tips between different single machines.

[0063] It should be noted that in this embodiment, a rigid pin or pin hole is provided on the first wing tip, or a pin hole or a rigid pin is provided on the second wing tip, which is also not limited, and its purpose is the same as the above embodiment, which is to realize the rigid connection between each unit in the combined UAV by connecting the rigid pin and the pin hole. Furthermore, when the above-mentioned flexible connection component is completely located inside the guide rail (that is, the length of the flexible connection component exposed to the guide rail is 0), the connection between the flexible connection component in the guide rail and the rotating electromagnetic damper in the slot can also be used as a rigid connection method. In some embodiments, the two rigid connection methods described here can exist in combination, or can exist independently.

[0064] Based on the above embodiment, further, the guide rail further includes:

[0065] A stepper motor is fixed at the bottom of the guide rail;

[0066] The screw pair includes a lead screw and a lead screw nut. The lead screw is connected to the stepper motor through a coupling, and the lead screw nut is fixedly connected to the flexible connection component.

[0067] It should be noted that the stepper motor and the screw pair are only one implementation method, and any implementation method that can realize the left and right movement of the flexible connection component along the guide rail can be replaced.

[0068] In some embodiments, the rotary electromagnetic damper is further connected to a planar scroll spring, and the planar scroll spring and the rotary electromagnetic damper are both installed in the slot after being connected.

[0069] Combine the following Figure 1-Figure 10 This implementation and its application scenarios are further explained.

[0070] First, please refer to Figure 1 This embodiment is composed of a left wing 1, a micro stepping motor 2, a coupling 3, a lead screw 4, a lead screw nut 5, a flexible connection assembly 6, a rotary electromagnetic damper 7, a plane scroll spring 8 and a right wing 9. It should be noted that the left wing 1 and the right wing 9 here are the first wing tip and the second wing tip mentioned above, and a guide rail 12 is provided on the left wing 1, and a card slot 92 is provided on the right wing 9.

[0071] Please refer to Figure 1 and Figure 2, the specific implementation method of the flexible connection component 6 moving left and right along the guide rail 12 is as follows: the micro-stepping motor 2 is fixed in the guide rail 12 of the left wing 1, and drives the lead screw 4 to rotate through the coupling 3. The screw pair formed by the lead screw 4 and the lead screw nut 5 can convert the rotation of the lead screw 4 into the movement of the lead screw nut 5 in the guide rail 12. One end of the flexible connection component 6 is fixedly connected to the lead screw nut 5, and the movement of the lead screw nut 5 is controlled as the lead screw 4 rotates, thereby controlling the flexible connection component 6 to move left and right in the wing guide rail. The components described here (including the micro-stepping motor 2, the coupling 3, the lead screw 4, the lead screw nut 5 and the flexible connection component 6) all belong to the installation components on the left wing 1.

[0072] Please refer to Figure 1 and Figure 3 After being connected, the rotary electromagnetic damper 7 and the planar spiral spring 8 are both installed in the installation slot 92 of the right wing 9.

[0073] In some embodiments, the flexible connection assembly further comprises:

[0074] A left connecting piece connected to the lead screw nut;

[0075] A flexible hollow column is sleeved on the lead screw. In some embodiments, the flexible hollow column is made of elastic rubber material;

[0076] The right connecting piece is connected to a boss. In some embodiments, the boss is an external hexagonal boss made of magnetic conductive material.

[0077] In this embodiment, please refer to Figure 4 , the flexible connection component 6 is connected by a left connecting piece 61, a flexible hollow column 62, a right connecting piece 63 and an outer hexagonal boss 64. The left and right connecting pieces 61 and 63 are made of engineering plastics, which can effectively reduce weight; the flexible hollow column 62 is made of hollow elastic rubber, which can transmit forces and moments in three directions of pitch, roll and yaw between two adjacent drones, and has good rebound and buffering and vibration reduction effects; the outer hexagonal boss 64 is made of magnetic conductive material. It should be noted that the boss here is preferably an outer hexagonal boss, but in the specific implementation, the shape and structure of the boss are not limited, and it can also be other polygonal bosses.

[0078] In some embodiments, the above-mentioned rotary electromagnetic damper includes:

[0079] The rotating part is matched and connected with the boss of the flexible connection component;

[0080] The fixing part is used to fix the rotary electromagnetic damper inside the card slot;

[0081] The limit pin controls the maximum pitch angle when the individual units of the combined UAV are flexibly connected.

[0082] In this embodiment, please refer to FIG. 5 , the rotary electromagnetic damper 7 is mainly composed of a rotating part 71, a fixed part 75, rotary limit pins 72, 73 and a fixed limit pin 74. The damping torque of the rotary electromagnetic damper changes with the change of the rotation speed of the rotating part 71. The change rule is: the damping torque increases with the increase of the rotation speed; the damping torque decreases with the decrease of the rotation speed. The rotary electromagnetic damper 7 can be completely embedded in the mounting slot 92 of the wing 9, without any exposed part, to reduce interference resistance.

[0083] Based on the above implementation methods, please refer to Figure 4 and Figure 5A , Figure 5B , the outer hexagonal boss 64 and the rotating part 71 of the rotary electromagnetic damper (here the inner hexagonal groove forms the profile) cooperate to transmit force and circumferential torque between two adjacent UAV wings. When the rotary electromagnetic damper 7 is energized, its rotating part 71 will generate electromagnetic force, tightly attracted together with the outer hexagonal boss 64, and can transmit force in the axial direction. After power is cut off, the outer hexagonal boss 64 and the rotating part 71 can be separated under the action of a weak external force. It should be noted that the structure of the rotating part 71 of the rotary electromagnetic damper 71 changes with the change of the structure of the boss of the flexible connection assembly 6, and it is only necessary to ensure that the structures of the two can be adapted and connected.

[0084] The specific combination method of the wingtip connection structure of the combined UAV of the present invention is described in detail below in combination with the above-mentioned embodiments.

[0085] Generally, the specific combination is based on the following principles:

[0086] During the takeoff and cruising phases, the wings of multiple drones are connected together for taxiing and takeoff to horizontal flight. When there is no wind or the wind is weak, rigid connections are used between adjacent drones to combine multiple small drones into a large aspect ratio drone. When encountering strong unstable winds, the flight controller controls the rotation of the stepper motor based on the wind speed information measured by the onboard atmospheric data sensor, so that the flexible hollow column extends out of the guide rail, and the wing connection mechanism of the combined drone is converted into a flexible connection, which automatically changes the connection flexibility according to different wind levels (within a certain range, the greater the wind, the greater the flexibility). Adjacent drones can have relative torsion within a limited angle in the three rotational degrees of freedom.

[0087] The main advantages of this combination are:

[0088] When there is no wind or the wind is weak, the gusts have little effect on the stability of the drone. The tight rigid connection of each drone can greatly increase the aspect ratio, reduce the induced drag, and improve the lift-to-drag ratio, thereby maximizing the flight time. When encountering strong gusts, the flexible components and damping spring mechanisms at the connection can effectively reduce the impact of gusts on the stability of the drone, thereby improving the overall wind resistance performance.

[0089] During the mission execution phase, the unit is disassembled into multiple independent small drones, each performing its own mission.

[0090] Specifically, based on the above principles:

[0091] In some embodiments, the wingtip connection between each unit of the combined UAV is automatically adjusted to a flexible connection or a rigid connection according to the wind speed, and the strength of the flexible connection is automatically adjusted according to the wind force level.

[0092] In this embodiment, for the rigid connection mode, two pins with tapered heads and pin holes with tapered orifices arranged in the chord direction of the wing end surface are used to cooperate with the magnetic force of the rotating electromagnetic damper 7 to achieve the rigid connection of the wing. Figure 2 , Figure 3 and Figure 6 When there is no wind or the wind is weak, the wingtips of two adjacent drones can be rigidly connected. Figure 2 11 and 13 are two rigid pins on the left wing 1, and the pin heads have a certain taper. Figure 3 91 and 93 are two pin holes on the right wing 9, and the hole openings have a certain taper. The purpose of the taper design is to guide the pin and the hole to cooperate smoothly within a certain range of eccentricity. Figure 6 The figure is a schematic diagram of the rigid connection between the two wings. At this time, the rotary electromagnetic damper 7 is powered on, and the rotating part 71 is tightly attracted to the outer hexagonal boss 64 of the flexible connection component 6. The micro stepper motor 2 drives the lead screw 4 to rotate, and then drives the lead screw nut 5, the flexible connection component 6, the rotary electromagnetic damper 7 and the right wing 9 to move toward the left wing 1, and finally the end faces of the two wings are tightly fitted, and the rigid pins 11 and 13 are inserted into the pin holes 91 and 93, thereby limiting the six degrees of freedom of the relative movement of the two wings, thereby realizing a rigid connection.

[0093] Based on the above rigid connection method, please refer to Figure 7 , is a schematic diagram of the rigid connection of multiple UAVs. The wingtips of adjacent UAVs fit tightly together, and all wings remain on the same plane, which is equivalent to a large aspect ratio UAV. This combination can minimize wingtip vortex losses, increase lift-to-drag ratio, and thus improve range and flight time.

[0094] In this embodiment, for the rigid-to-flexible connection, when encountering gusts of wind, the micro-stepping motor 2 rotates to make the flexible connection component 6 extend out of the left wing, thereby realizing a flexible connection between the two drones. Figure 8 When encountering a larger gust of wind, the two wings are transformed into a flexible connection. The rotating electromagnetic damper 7 remains energized and engages with the flexible connection component 6, thereby connecting the wing 1 and the wing 9 together. The micro-stepping motor 2 drives the lead screw 4 to rotate in the opposite direction, thereby pushing the lead screw nut 5 to move outward to make the flexible connection component 6 extend out of the wing 1. At this time, the transmission of force and torque between the two wings mainly relies on the flexible hollow column 62 of the elastic transmission component 6.

[0095] Specifically, when encountering a large gust of wind, the UAV at the gust position is disturbed, and the pitch angular velocity will increase rapidly. At this time, the rotating electromagnetic damper 7 on the adjacent UAVs will generate a large damping torque in the opposite direction to prevent the pitch angle from continuing to increase, thereby ensuring the stability of the entire assembly. At the same time, the rotational motion of the rotating electromagnetic damper 7 can consume the disturbed rotational kinetic energy, so that the assembly quickly tends to a stable state. The center of the planar volute spring 8 is connected to the rear end of the rotating part 71 of the rotating electromagnetic damper 7, which can generate a pitch restoring torque to keep the pitch angles of the two adjacent UAVs consistent. If the damping torque of the rotating electromagnetic damper 7 itself is not enough to offset the pitch torque generated by the gust of wind, the maximum pitch angle is controlled by the limit pin to prevent the UAV from stalling and falling.

[0096] It should be noted that by controlling the rotation angle of the micro stepper motor 2, the extension length of the flexible hollow column 62 can be controlled, that is, the size of the connection flexibility can be controlled, and then the size of the force and torque transmitted between two adjacent drones can be adjusted: the longer the extension length, the greater the flexibility, and the weaker the torque transmission capacity; the shorter the extension, the weaker the flexibility, and the stronger the torque transmission capacity; when the extension amount is 0, it degenerates into a rigid connection.

[0097] In this embodiment, for the flexible connection method, please refer to Fig. 9 , which is a schematic diagram of a flexible combination of multiple small UAVs. The UAVs are connected together through flexible components, and adjacent UAVs can have relative rotation in three directions: roll, pitch and yaw.

[0098] In some embodiments, when the rotating electromagnetic damper is powered on, its rotating part generates electromagnetic force, through which the rotating part and the boss of the flexible connection component are attracted and connected; when the rotating electromagnetic damper is powered off, the electromagnetic force disappears and the connection between the rotating part and the boss is disconnected.

[0099] In this embodiment, when you need to execute a task, please refer to Fig.10, is a schematic diagram of the wing tip of the disassembled UAV assembly. When the rotating electromagnetic damper 7 is powered off, the outer hexagonal boss 64 and the rotating part 71 can be separated under the action of a weak external force, thereby realizing the disassembly of the assembled UAV in the air. After disassembly, the micro-stepping motor 2 rotates to drive the flexible connection component 6 to retract into the guide groove of the left wing 1, reducing the interference resistance of the wing.

[0100] At this point, the description of the embodiment of the wingtip connection structure of the combined UAV and its implementation method of the present invention is completed.

[0101] The above is only a preferred specific embodiment of the present invention, and the protection scope of the present invention is not limited thereto. Any modification, improvement and equivalent replacement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A wingtip connection structure of a combined UAV, characterized in that: include: A guide rail is provided in the chord direction of the first wing tip of each single unit in the combined UAV, and a slot is provided in the chord direction of the second wing tip of each single unit; A flexible connection component is arranged inside the guide rail and moves left and right along the guide rail under the action of external force. The flexible connection component includes: a right connecting piece connected to a boss, and the boss is an external hexagonal boss; A rotary electromagnetic damper is arranged inside the card slot, and the rotary electromagnetic damper comprises: a rotating part, wherein the rotating part is a profile formed by a hexagonal groove; Moreover, the inner hexagonal groove of the rotary electromagnetic damper forms a profile that is adaptively connected to the outer hexagonal boss of the flexible connection component, and is used to transmit force and circumferential torque between two adjacent UAV wings to achieve flexible connection of the wing tips between different single machines.

2. The wingtip connection structure of the combined UAV according to claim 1, characterized in that: Also includes: A rigid pin, the head of which is tapered, is disposed on the first wing tip; A pin hole, the opening of which is tapered, is provided on the second wing tip; Furthermore, the rigid column pin and the column pin hole are adaptively connected to achieve the rigid connection of the wing tips between different single machines.

3. The wingtip connection structure of the combined UAV according to claim 2, characterized in that: The guide rail also includes: A stepper motor is fixed at the bottom of the guide rail; The screw pair comprises a lead screw and a lead screw nut. The lead screw is connected to the stepping motor through a coupling, and the lead screw nut is fixedly connected to the flexible connection component.

4. The wingtip connection structure of the combined UAV according to claim 3, characterized in that: The flexible connection assembly also includes: A left connecting piece connected to the lead screw nut; The flexible hollow column is sleeved on the lead screw.

5. The wingtip connection structure of the combined UAV according to claim 4, characterized in that: The flexible hollow column is made of elastic rubber material.

6. The wing tip connection structure of the combined UAV according to claim 4, characterized in that: The boss is an external hexagonal boss, and the external hexagonal boss is made of magnetic conductive material.

7. The wing tip connection structure of the combined UAV according to claim 4, characterized in that: The rotary electromagnetic damper also includes: A fixing part, which fixes the rotary electromagnetic damper inside the slot; The limit pin controls the maximum pitch angle when the individual units of the combined UAV are flexibly connected.

8. The wing tip connection structure of the combined UAV according to claim 7, characterized in that: The rear end of the rotating part is also connected to a planar volute spring, and the planar volute spring and the rotary electromagnetic damper are both installed in the slot after being connected.

9. The wing tip connection structure of the combined UAV according to claim 8, characterized in that: The wingtip connection between each unit of the combined UAV is automatically adjusted to a flexible connection or a rigid connection according to the wind speed, and the strength of the flexible connection is automatically adjusted according to the wind force level.

10. The wing tip connection structure of the combined UAV according to claim 9, characterized in that: When the rotary electromagnetic damper is energized, its rotating part generates electromagnetic force, and the electromagnetic force is used to realize the suction connection between the rotating part and the boss of the flexible connection component; When the rotary electromagnetic damper is powered off, the electromagnetic force disappears and the connection between the rotating part and the boss is disconnected.

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