Solar UAV wing rib assembly posture adjustment system

Abstract

The present invention discloses a solar-powered UAV wing rib assembly posture adjustment system, comprising at least one pair of posture adjustment modules, wherein the chord-wise motion unit of each posture adjustment module is arranged on the span-wise motion unit, and can move along the span direction of the UAV wing on the span-wise motion unit; the height motion unit is arranged on the chord-wise motion unit, and can move along the chord direction of the UAV wing on the chord-wise motion unit; the profile fixing unit is arranged on the height motion unit, and can be raised and lowered on the height motion unit; the motion control system is respectively connected to the span-wise motion unit, the chord-wise motion unit and the height motion unit; each pair of posture adjustment modules supports a wing rib of the UAV wing through the profile fixing unit, and moves synchronously under the control of the motion control system to adjust the span-wise position, chord-wise position and height position of the wing rib relative to the UAV wing. The present invention reduces the time and labor cost of wing rib assembly, improves assembly speed and shortens the development cycle.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle assembly, and more specifically, relates to a solar-powered unmanned aerial vehicle wing rib assembly posture adjustment system. Background Art

[0002] Most solar drone wing structures consider lightweight design and manufacturing, so composite materials are generally selected. Combined with the design ideas of solar drones, the wing ribs have the remarkable characteristics of large scale and light weight. During the assembly process of the wing section of the solar drone, each wing rib is required to be adjusted to a flush state before assembling the wing ribs and the main beam, and ensure that the vertical distance between each wing rib is within the allowable tolerance range. The quality of the wing rib assembly will affect the performance of the entire machine, especially when it comes to subsequent solar cell array-related operations. The solar cell array is assembled based on the wing ribs. If the wing rib assembly effect is not good and the rib spacing is uneven, it will make the solar cell array difficult to assemble, which will affect the power generation and aerodynamic performance of the upper wing surface.

[0003] At present, the wing rib assembly posture of solar drones is mainly guaranteed by auxiliary tooling, which is composed entirely of mechanical structural parts. Before wing rib assembly, various auxiliary tooling parts are adjusted to ensure that the posture is aligned, and then the relevant parts are tightened to fix the wing rib posture, and then the subsequent related assembly operations are carried out. From the above operation process, the guarantee of the wing rib posture, the rib spacing dimension accuracy, the assembly effect and the time cycle are basically determined by the auxiliary tooling adjustment effect. Although the auxiliary tooling can guarantee the wing rib assembly posture to a certain extent, it has some shortcomings: (1) The traditional auxiliary tooling adjustment process relies on manual work, requiring the operator to have relevant experience, the measurement method is backward, and the adjustment accuracy is difficult to guarantee; (2) The wing rib chord length is large, the number of complete machines is large, and the matching auxiliary tooling adjustment workload is large, resulting in a large demand for personnel and high manpower and time costs; (3) The versatility is weak. When the design size is adjusted or the model is changed, the traditional auxiliary tooling needs to be re-adjusted to meet the new wing rib assembly posture and rib spacing dimension requirements. The process is cumbersome and repetitive.

[0004] Therefore, we look forward to developing a solar-powered UAV wing rib assembly posture adjustment system to reduce manpower and time costs and improve assembly accuracy and speed. Summary of the invention

[0005] The purpose of the present invention is to provide a solar-powered UAV wing rib assembly posture adjustment system to solve the problems of complicated adjustment process, low precision, poor versatility, and time-consuming manpower and time in traditional wing rib assembly auxiliary tooling.

[0006] In order to achieve the above-mentioned object, the present invention provides a solar-powered UAV wing rib assembly posture adjustment system, comprising at least one pair of posture adjustment modules, each of which comprises a span motion unit, a chord motion unit, a height motion unit, a profile fixing unit and a motion control system;

[0007] The chord-wise motion unit is arranged on the span-wise motion unit, and can move along the span direction of the UAV wing on the span-wise motion unit; the height motion unit is arranged on the chord-wise motion unit, and can move along the chord direction of the UAV wing on the chord-wise motion unit; the profile fixing unit is arranged on the height motion unit, and can be raised and lowered on the height motion unit; the motion control system is respectively connected to the span-wise motion unit, the chord-wise motion unit and the height motion unit;

[0008] Each pair of the attitude adjustment modules supports a wing rib of the UAV wing through the profile fixing unit, and moves synchronously under the control of the motion control system to adjust the spanwise position, chordwise position and height position of the wing rib relative to the UAV wing.

[0009] Optionally, the spanwise motion unit includes a spanwise linear guide, a spanwise motion slider and a spanwise drive assembly, the spanwise linear guide is arranged along the spanwise direction of the UAV wing, the spanwise motion slider is arranged on the spanwise linear guide, the spanwise drive assembly is connected to the spanwise motion slider to drive the spanwise motion slider to move along the spanwise linear guide, and the chordwise motion unit is arranged on the spanwise motion slider.

[0010] Optionally, the spanwise driving assembly includes a rack, a spanwise motion reducer, a spanwise motion servo motor and a spanwise motion unit encoder;

[0011] The rack is parallel to the spanwise linear guide rail;

[0012] The spanwise motion reducer is fixed to the spanwise motion slider via a reducer bracket, the output shaft of the spanwise motion servo motor is connected to the input shaft of the spanwise motion reducer, a gear is provided on the output shaft of the spanwise motion reducer, and the gear is meshed with the rack for transmission;

[0013] The spanwise motion unit encoder is connected to the spanwise motion servo motor.

[0014] Optionally, a bearing structure plate is provided on the spanwise motion slider, a column is provided on the bearing structure plate, a column transfer structure plate is provided on the top of the column, and the chordwise motion unit is arranged on the column transfer structure plate.

[0015] Optionally, the chord-wise motion unit includes a chord-wise linear guide, a chord-wise motion slider and a chord-wise drive assembly, the chord-wise linear guide is arranged on the span-wise motion unit along the chord direction of the UAV wing, the chord-wise motion slider is arranged on the chord-wise linear guide, the chord-wise drive assembly is connected to the chord-wise motion slider to drive the chord-wise motion slider to move along the chord-wise linear guide, the chord-wise drive assembly is provided with a dust cover, the chord-wise motion slider is provided with a chord-wise slider transition structure plate, and the height motion unit is arranged on the chord-wise slider transition structure plate.

[0016] Optionally, the chordal drive assembly includes a chordal ball screw, a chordal motion servo motor and a chordal motion unit encoder, the screw of the chordal ball screw is parallel to the chordal linear guide, the output shaft of the chordal motion servo motor is connected to the screw of the chordal ball screw through a chordal motion coupling, the chordal motion slider is connected to the nut of the chordal ball screw, and the chordal motion unit encoder is connected to the chordal motion servo motor.

[0017] Optionally, the height motion unit includes a vertical linear guide, a vertical motion slider and a vertical drive assembly, the vertical linear guide is arranged on the chordal motion unit along the vertical direction, the vertical motion slider is arranged on the vertical linear guide, the vertical drive assembly is connected to the vertical motion slider to drive the vertical motion slider to move along the vertical linear guide, the profile fixing unit is arranged on the vertical motion slider, the vertical linear guide is provided with reinforcing ribs, the vertical motion slider is provided with a height slider transfer structure plate, and the profile fixing unit is arranged on the height slider transfer structure plate.

[0018] Optionally, the vertical drive assembly includes a height ball screw, a height direction motion servo motor and a height direction motion encoder, the screw of the height ball screw is parallel to the vertical linear guide, the output shaft of the height direction motion servo motor is connected to the screw of the height ball screw through a height motion coupling, the vertical motion slider is connected to the nut of the height ball screw, and the height direction motion encoder is connected to the height direction motion servo motor.

[0019] Optionally, the profile fixing unit comprises a support beam, a clamp and a connecting piece, one end of the support beam is connected to the height motion unit, and the other end extends along the chord direction of the UAV wing, and a positioning groove is provided on the top surface of the support beam along the length direction of the support beam, and the shape of the positioning groove matches the wing rib of the UAV wing and is used to install the wing rib, and the clamp is clamped on the support beam by the bottom of the support beam to fix the wing rib;

[0020] The support beams of the pair of posture adjustment modules are arranged facing each other, the connecting member is connected between the free ends of the support beams of the pair of posture adjustment modules, and the support beams of each pair of posture adjustment modules cooperate with each other to fix one of the wing ribs.

[0021] Optionally, the motion control system includes a host computer, a motion controller and a plurality of servo motor drivers, the host computer is connected to the motion controller, the motion controllers are respectively connected to the servo motor drivers, and each of the servo motor drivers is connected to one of the posture adjustment modules.

[0022] The beneficial effects of the present invention are as follows: the solar UAV wing rib assembly posture adjustment system of the present invention has a high degree of automation, can adjust multiple wing ribs to a flush state before assembly, and ensure that the distance between each wing rib is within the allowable tolerance range, and the adjustment process can be achieved by the operator only needing to write a motion control program on the industrial control host computer, thereby reducing the participation of a large number of operators in auxiliary tooling adjustment and shortening the development cycle of solar UAVs; the UAV wing rib assembly posture adjustment system of the present invention adopts a modular design concept, and is composed of a plurality of identical posture adjustment modules with strong interchangeability; the solar UAV wing rib assembly posture adjustment system of the present invention can record the wing rib assembly information of each state in the motion control system after adjustment, which is convenient for subsequent calls and reduces repetitive adjustment work.

[0023] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0025] Figure 1 A schematic diagram of a solar-powered UAV wing rib assembly posture adjustment system according to an embodiment of the present invention is shown.

[0026] Figure 2 A connection diagram of a pair of posture adjustment modules according to an embodiment of the present invention is shown.

[0027] Figure 3 A structural schematic diagram of a posture adjustment module according to an embodiment of the present invention is shown.

[0028] Figure 4 A schematic structural diagram of a spanwise motion unit according to an embodiment of the present invention is shown.

[0029] Figure 5A schematic diagram of a load-bearing structural plate according to an embodiment of the present invention is shown.

[0030] Figure 6 A schematic diagram of a column according to an embodiment of the present invention is shown.

[0031] Figure 7 A schematic diagram of a reducer bracket according to an embodiment of the present invention is shown.

[0032] Figure 8 A schematic diagram of a column transfer structural plate according to an embodiment of the present invention is shown.

[0033] Fig. 9 A schematic diagram of a chord-wise slider transition structural plate according to an embodiment of the present invention is shown.

[0034] Fig.10 A schematic diagram of a reinforcing rib according to an embodiment of the present invention is shown.

[0035] Fig.11 A side view of a support beam according to one embodiment of the present invention is shown.

[0036] Fig.12 A perspective view of a support beam according to one embodiment of the present invention is shown.

[0037] Fig.13 A schematic diagram of a height slider transition structure plate according to an embodiment of the present invention is shown.

[0038] Fig.14 A schematic diagram of a connector according to an embodiment of the present invention is shown.

[0039] Fig.15 A schematic diagram of a clamp according to an embodiment of the present invention is shown.

[0040] Fig.16 A control flow diagram of a motion control system according to an embodiment of the present invention is shown.

[0041] Description of Reference Numerals

[0042] 1. Posture adjustment module; 2. Spanwise motion unit; 3. Chordal motion unit; 4. Height motion unit; 5. Profile fixing unit; 6. Reducer bracket; 7. Spanwise motion slider; 8. Spanwise motion reducer; 9. Bearing structure plate; 10. Column; 11. Spanwise motion servo motor; 12. Spanwise motion unit encoder; 13. Chordal motion linear module; 14. Chordal motion servo motor; 15. Column transfer structure plate; 16. Chordal motion unit encoder; 17. Chordal motion coupling; 18. Height linear module; 19. Height motion coupling; 20. Chordal slider transfer structure plate; 21. Reinforcement rib; 22. Support beam; 23. Connector; 24. Clamp; 25. Height slider transfer structure plate; 26. Height direction motion servo motor; 27. Height direction motion encoder; 28. Spanwise linear guide. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0044] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0045] The present invention provides a solar-powered UAV wing rib assembly posture adjustment system, comprising at least one pair of posture adjustment modules, each posture adjustment module comprising a span motion unit, a chord motion unit, a height motion unit, a profile fixing unit and a motion control system;

[0046] The chord-wise motion unit is arranged on the span-wise motion unit, and can move along the span direction of the UAV wing on the span-wise motion unit; the height motion unit is arranged on the chord-wise motion unit, and can move along the chord direction of the UAV wing on the chord-wise motion unit; the profile fixing unit is arranged on the height motion unit, and can be raised and lowered on the height motion unit; the motion control system is respectively connected to the span-wise motion unit, the chord-wise motion unit and the height motion unit;

[0047] Each pair of attitude adjustment modules supports a wing rib of a UAV wing through a profile fixing unit and moves synchronously under the control of a motion control system to adjust the spanwise position, chordwise position and height position of the wing rib relative to the UAV wing.

[0048] Specifically, the solar-powered UAV wing rib assembly posture adjustment system of the present invention has a high degree of automation, and can adjust multiple wing ribs to a flush state before assembly, and ensure that the distance between each wing rib is within the allowable tolerance range, and the adjustment process can be achieved by the operator only needing to write a motion control program on the industrial control host computer, thereby reducing the participation of a large number of operators in auxiliary tooling adjustments and shortening the development cycle of solar-powered UAVs; the UAV wing rib assembly posture adjustment system of the present invention adopts a modular design concept, and is composed of a plurality of identical posture adjustment modules with strong interchangeability; the solar-powered UAV wing rib assembly posture adjustment system of the present invention can record the wing rib assembly information of each state in the motion control system after adjustment, which is convenient for subsequent calls and reduces repetitive adjustment work.

[0049] As an optional solution, the spanwise motion unit includes a spanwise linear guide, a spanwise motion slider and a spanwise drive assembly. The spanwise linear guide is arranged along the spanwise direction of the UAV wing, the spanwise motion slider is arranged on the spanwise linear guide, the spanwise drive assembly is connected to the spanwise motion slider to drive the spanwise motion slider to move along the spanwise linear guide, and the chordwise motion unit is arranged on the spanwise motion slider.

[0050] As an optional solution, the span-wise driving assembly includes a rack, a span-wise motion reducer, a span-wise motion servo motor and a span-wise motion unit encoder;

[0051] The rack is parallel to the spanwise linear guide

[0052] The spanwise motion reducer is fixed on the spanwise motion slider through a reducer bracket, the output shaft of the spanwise motion servo motor is connected to the input shaft of the spanwise motion reducer, and a gear is arranged on the output shaft of the spanwise motion reducer, and the gear is meshed with the rack for transmission;

[0053] The spanwise motion unit encoder is connected to the spanwise motion servo motor.

[0054] As an optional solution, a bearing structure plate is provided on the spanwise motion slider, a column is provided on the bearing structure plate, a column transfer structure plate is provided on the top of the column, and the chordwise motion unit is arranged on the column transfer structure plate.

[0055] Specifically, the load-bearing structure plate bears the weight of all moving units and wing ribs. Under the premise of meeting the strength and stiffness requirements, the weight reduction optimization design is considered and local hollowing is performed. Structural lightening holes and column installation positioning grooves are processed. The columns can be quickly positioned by relying on the column installation positioning grooves on the load-bearing structure plate.

[0056] Furthermore, a column is provided to increase the height of the starting point of the height movement unit and to bear the weight of the chord-wise movement unit, the height movement unit and the profile fixing unit.

[0057] As an optional solution, the chordal motion unit includes a chordal linear guide, a chordal motion slider and a chordal drive assembly. The chordal linear guide is arranged on the span-wise motion unit along the chord direction of the UAV wing. The chordal motion slider is arranged on the chordal linear guide. The chordal drive assembly is connected to the chordal motion slider to drive the chordal motion slider to move along the chordal linear guide. A dust cover is provided on the chordal drive assembly. The chordal motion slider is provided with a chordal slider transfer structure plate. The height motion unit is arranged on the chordal slider transfer structure plate.

[0058] As an optional solution, the chordal drive assembly includes a chordal ball screw, a chordal motion servo motor and a chordal motion unit encoder, the screw of the chordal ball screw is parallel to the chordal linear guide, the output shaft of the chordal motion servo motor is connected to the screw of the chordal ball screw through a chordal motion coupling, the chordal motion slider is connected to the nut of the chordal ball screw, and the chordal motion unit encoder is connected to the chordal motion servo motor.

[0059] As an optional solution, the height motion unit includes a vertical linear guide, a vertical motion slider and a vertical drive assembly. The vertical linear guide is arranged on the chordal motion unit along the vertical direction, the vertical motion slider is arranged on the vertical linear guide, the vertical drive assembly is connected to the vertical motion slider to drive the vertical motion slider to move along the vertical linear guide, the profile fixing unit is arranged on the vertical motion slider, reinforcing ribs are provided on the vertical linear guide, a height slider transfer structure plate is provided on the vertical motion slider, and the profile fixing unit is arranged on the height slider transfer structure plate.

[0060] Specifically, the reinforcing ribs are used to strengthen the strength and rigidity of the vertical linear guide and the vertical drive assembly to prevent overturning during the movement process, and at the same time provide a mechanical interface for the vertical linear guide and the vertical drive assembly to be installed and connected to the chordal motion unit.

[0061] As an optional solution, the vertical drive assembly includes a height ball screw, a height direction motion servo motor and a height direction motion encoder. The screw of the height ball screw is parallel to the vertical linear guide. The output shaft of the height direction motion servo motor is connected to the screw of the height ball screw through a height motion coupling. The vertical motion slider is connected to the nut of the height ball screw. The height direction motion encoder is connected to the height direction motion servo motor.

[0062] As an optional solution, the profile fixing unit includes a support beam, a clamp and a connecting piece, one end of the support beam is connected to the height motion unit, and the other end extends along the chord direction of the UAV wing. A positioning groove is provided on the top surface of the support beam along the length direction of the support beam. The shape of the positioning groove matches the wing rib of the UAV wing and is used to install the wing rib. The clamp is clamped on the support beam by the bottom of the support beam to fix the wing rib.

[0063] A pair of support beams of the posture adjustment modules are arranged facing each other, and the connecting piece is connected between the free ends of the support beams of the pair of posture adjustment modules. The support beams of each pair of posture adjustment modules cooperate with each other to fix a wing rib.

[0064] Specifically, a mounting seat is provided at one end of the support beam connected to the height motion unit, and a circular boss is provided on a side of the mounting seat away from the support beam to facilitate installation and positioning of the support beam.

[0065] Furthermore, the clamp plays the role of fastening and limiting the posture of the wing rib, and is provided with hollow weight-reducing holes.

[0066] As an optional solution, the motion control system includes a host computer, a motion controller and multiple servo motor drivers. The host computer is connected to the motion controller, the motion controllers are respectively connected to the servo motor drivers, and each servo motor driver is connected to a posture adjustment module.

[0067] Specifically, each posture adjustment module writes a motion control program on the host computer and communicates with the motion controller through Ethernet. The motion controller sends instructions to the servo motor driver to realize the motion control of the wing rib assembly posture adjustment to meet the wing rib assembly posture requirements.

[0068] Example

[0069] like Figure 1 As shown, the solar-powered UAV wing rib assembly posture adjustment system of this embodiment includes three pairs of posture adjustment modules 1, and the three pairs of posture adjustment modules 1 are arranged in sequence along the span direction of the UAV wing.

[0070] like Figure 2As shown, each posture adjustment module 1 includes a span motion unit 2, a chord motion unit 3, an altitude motion unit 4, a profile fixing unit 5 and a motion control system; the chord motion unit 3 is arranged on the span motion unit 2, and can move along the span direction of the UAV wing on the span motion unit 2; the altitude motion unit 4 is arranged on the chord motion unit 3, and can move along the chord direction of the UAV wing on the chord motion unit 3; the profile fixing unit 5 is arranged on the altitude motion unit 4, and can be raised and lowered on the altitude motion unit 4; the motion control system is respectively connected to the span motion unit 2, the chord motion unit 3 and the altitude motion unit 4. The profile fixing units 5 of each pair of posture adjustment modules 1 are arranged opposite to each other and the ends are connected to each other through a connecting piece 23, and they cooperate to support a wing rib together, and move synchronously under the control of the motion control system to adjust the span position, chord position and altitude position of the wing rib relative to the UAV wing.

[0071] like Figure 3 , Figure 4 As shown, the spanwise motion unit 2 includes a spanwise linear guide 28, a spanwise motion slider 7, a rack, a spanwise motion reducer 8, a spanwise motion servo motor 11 and a spanwise motion unit encoder 12. The spanwise linear guide 28 is arranged on the ground along the spanwise direction of the UAV wing. The spanwise motion slider 7 is arranged on the spanwise linear guide 28. A bearing structure plate 9 is arranged on the spanwise motion slider 7. A column 10 is arranged on the bearing structure plate 9. A column transfer structure plate 15 is arranged on the top of the column 10. The chordwise motion unit 2 is arranged on the column transfer structure plate 15. The bearing structure plate 9 bears the weight of the chordwise motion unit 2, the height motion unit 3 and the wing ribs. On the premise of meeting the strength and stiffness requirements, the weight reduction optimization design is considered and a partial hollowing is performed, as shown in FIG. Figure 5 As shown, the bearing structure plate 9 is processed with a first lightening hole 901, a second lightening hole 902 and a column installation positioning groove 903, and a slider installation through hole 904, a column installation through hole 905, and a reducer bracket installation through hole 906 are left as the installation mechanical interface. The column 10 is quickly positioned by relying on the column installation positioning groove 903. Figure 6 As shown, the upper surface of the column 10 is processed with a first mounting through hole 1001, and the lower surface is processed with a second mounting through hole 1002. The structural reinforcement rib 1003 enhances its strength and rigidity. The lower surface of the column 10 is connected to the column mounting through hole 905 on the load-bearing structure plate 9 through the second mounting through hole 1002 and bolts, which is used to increase the starting point height of the height direction motion unit and bear the weight of the chord motion unit 3, the height direction motion unit 4 and the profile unit 5. The rack is fixed on the bottom surface and is parallel to the spanwise linear guide 28. The spanwise motion reducer 8 is fixed to the load-bearing structure plate 9 through the reducer bracket 6. The reducer bracket 6 is as shown in FIG. Figure 7As shown, the spanwise motion reducer 8 is first connected to the first through holes 601 on both sides of the reducer bracket 6 by bolts, and the bracket is then connected to the reducer bracket mounting through hole 906 of the bearing structure plate 9 through the second through hole 602 in the middle. The spanwise motion reducer 8 reduces the speed of the output end and improves the output torque. The output shaft key of the spanwise motion servo motor 11 is connected to the input hole of the spanwise motion reducer 8. A gear is provided on the output shaft of the spanwise motion reducer 8. The output shaft of the spanwise motion reducer is connected to the gear key by bolts, top screws, etc. The gear and rack are meshed for transmission, so that the rotational motion of the output shaft is converted into the linear motion of driving the spanwise motion slider along the spanwise linear guide. The spanwise motion unit encoder 12 is integrated and installed at the end of the spanwise motion servo motor 11 and connected to the spanwise motion servo motor 11.

[0072] like Figure 3 As shown, the chord-wise motion unit includes a chord-wise linear guide, a chord-wise motion slider, a chord-wise ball screw, a chord-wise motion servo motor 14 and a chord-wise motion unit encoder 16. The chord-wise linear guide, the chord-wise motion slider and the chord-wise ball screw constitute a chord-wise linear module 13, and a dust cover is provided on the chord-wise linear module 13. The chord-wise linear module 13 is arranged on the column transfer structure plate 15 along the chord direction of the drone wing, as shown in FIG. Figure 8 As shown, the column transfer structure plate 15 is used to provide a mechanical interface between the column 10 and the chordal linear module 13. The back side of the chordal linear module 13 is installed through the positioning groove 1501 on the column transfer structure plate 15, and is connected to the countersunk hole 1502 on the column transfer structure plate 15 by bolts. The column transfer structure plate 15 is bolted to the first mounting through hole 1001 on the upper surface of the column 10 through the transfer through hole 1503. The chordal motion slider is arranged on the chordal linear guide rail, the screw of the chordal ball screw is parallel to the chordal linear guide rail, the output shaft of the chordal motion servo motor 14 is connected to the screw of the chordal ball screw through the chordal motion coupling 17, the chordal motion slider is connected to the nut of the chordal ball screw, and the chordal motion unit encoder 16 is integrated and installed at the end of the chordal motion servo motor 14 and connected to the chordal motion servo motor 14. A chordal slider transfer structure plate 20 is provided on the chordal motion slider, and the height motion unit 4 is arranged on the chordal slider transfer structure plate 20. The ball screw in the chordal linear module 13 converts the rotational motion of the chordal motion servo motor 14 into the chordal linear motion of the chordal motion slider along the chordal linear guide.

[0073] like Figure 3 As shown, the height motion unit 4 includes a vertical linear guide, a vertical motion slider, a height ball screw, a height direction motion servo motor 26 and a height direction motion encoder 27. The vertical linear guide, the vertical motion slider and the height ball screw form a height linear module 18. A dust cover is provided on the height linear module 18. The vertical linear guide is arranged on the chordal slider transfer structure plate 20 along the vertical direction, as shown in FIG. Fig. 9 As shown, the chord-direction slider transfer structure plate 20 plays a role in mechanical transfer between the height direction motion unit and the chord-direction motion unit, and is processed with a third through hole 2001 and a first threaded hole 2002. The third through hole 2002 is used for bolting to the chord-direction motion slider, and the first threaded hole 2002 is used for bolting to the reinforcing rib 21. The reinforcing rib 21 is used to strengthen the strength and rigidity of the height linear module 18 to prevent overturning during the movement process, and at the same time provides a mechanical interface for the height linear module 18 body to be installed and connected to the chord-direction motion unit 3, as shown in FIG. Fig.10 As shown, the back side of the height linear module 18 is connected to the fourth through hole 2101 on the vertical surface of the reinforcing rib 21 through bolts, and the reinforcing rib 21 is connected to the first threaded hole 2002 on the chord-wise slider adapter structural plate 20 through the fifth through hole 2102 on the bottom surface. After the two are connected, they are connected to the chord-wise motion slider of the chord-wise linear module 13 through bolts. The boss 2103 of the reinforcing rib 21 is used to facilitate the installation of the height linear module 18. The vertical motion slider is arranged on the vertical linear guide rail, the screw of the height ball screw is parallel to the vertical linear guide rail, the output shaft of the height direction motion servo motor 26 is connected to the screw of the height ball screw through the height motion coupling 19, the vertical motion slider is connected to the nut of the height ball screw, the height ball screw converts the rotational motion of the height direction motion servo motor 26 into the linear motion of the vertical motion slider along the vertical linear guide rail, the height direction motion encoder 27 is integrated and installed at the end of the height direction motion servo motor 26 and connected to the height direction motion servo motor 26, the vertical motion slider is provided with a height slider adapter structure plate 25, and the profile fixing unit 5 is arranged on the height slider adapter structure plate 25

[0074] like Figure 3 As shown, the profile fixing unit 5 includes a support beam 22, a clamp 24 and a connecting piece 23. One end of the support beam 22 is connected to the height motion unit 4, and the other end extends along the chord direction of the UAV wing. A positioning groove 2202 is provided on the top surface of the support beam 22 along the length direction of the support beam 22. The shape of the positioning groove 2202 matches the wing rib of the UAV wing and is used to install the wing rib. The clamp 24 is clamped on the support beam 22 by the bottom of the support beam 22 to fix the wing rib; as shown in FIG. Figure 11 to Figure 13As shown, a circular boss 2201 and a positioning groove 2202 are processed on the connecting seat of the support beam 22. The circular boss is easy to be installed in the positioning through hole 2501 of the height slider adapter structure plate 25. The positioning groove 2202 is shaped to match the contact surface of the wing rib and has a shape-matching function. It is used to ensure and limit the posture of the wing rib after it is placed. A long hole 2203 for installation with the height slider adapter structure plate, a second threaded hole 2204 for installing the fixture and a locking interconnection through hole 2205 are reserved. The long hole 2203 is connected to the third threaded hole 2502 of the height slider adapter structure plate by a bolt, and the sixth through hole 2503 of the height slider adapter structure plate is connected to the vertical motion slider. The connecting member 23 is connected between the free ends of the support beam 22 of a pair of posture adjustment modules 1, such as Fig.14 As shown, the seventh through hole 2301 of the connecting member 23 is connected to the locking interconnecting through holes 2205 of a pair of support beams. Fig.15 As shown, the clamp serves to tighten and limit the posture of the wing rib, and has a hollow weight-reducing hole 2403 and a boss 2401 . The through hole 2402 of the clamp structure is connected to the second threaded hole 2204 of the support beam by bolts.

[0075] In the solar-powered UAV wing rib assembly posture adjustment system of this embodiment, each motion unit uses a servo motor with an encoder as a driving device, which can not only achieve rapid adjustment response, but also ensure high positioning accuracy during movement. The adjustment process relies on digital information feedback, which is convenient and reliable. Fig.16 As shown, the motion control system includes a host computer, a motion controller and multiple servo motor drivers. The host computer is connected to the motion controller, and the motion controller is respectively connected to the servo motor drivers. Each servo motor driver is connected to a servo motor. Each posture adjustment module writes a motion control program on the host computer and communicates with the motion controller through Ethernet. The motion controller sends instructions to the servo motor driver to realize the motion control of the wing rib assembly posture adjustment and meet the wing rib assembly posture requirements.

[0076] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A solar-powered UAV wing rib assembly posture adjustment system, characterized in that: It comprises at least one pair of posture adjustment modules, each of which comprises a span motion unit, a chord motion unit, a height motion unit, a profile fixing unit and a motion control system; The chord-wise motion unit is arranged on the span-wise motion unit, and can move along the span direction of the UAV wing on the span-wise motion unit; the height motion unit is arranged on the chord-wise motion unit, and can move along the chord direction of the UAV wing on the chord-wise motion unit; the profile fixing unit is arranged on the height motion unit, and can be raised and lowered on the height motion unit; the motion control system is respectively connected to the span-wise motion unit, the chord-wise motion unit and the height motion unit; Each pair of the attitude adjustment modules supports a wing rib of the drone wing through the profile fixing unit, and moves synchronously under the control of the motion control system to adjust the spanwise position, chordwise position and height position of the wing rib relative to the drone wing; The profile fixing unit includes a support beam, a clamp and a connecting piece. One end of the support beam is connected to the height motion unit, and the other end extends along the chord direction of the UAV wing. A positioning groove is provided on the top surface of the support beam along the length direction of the support beam. The shape of the positioning groove matches the wing rib of the UAV wing and is used to install the wing rib. The clamp is clamped on the support beam by the bottom of the support beam to fix the wing rib. The support beams of the pair of posture adjustment modules are arranged facing each other, the connecting member is connected between the free ends of the support beams of the pair of posture adjustment modules, and the support beams of each pair of posture adjustment modules cooperate with each other to fix one of the wing ribs; A circular boss and a long hole are processed on the connecting seat of the support beam. The circular boss is installed in the positioning through hole of the height slider adapter structure plate. The long hole cooperates with the third threaded hole of the height slider adapter structure plate to realize the rotation movement of the support beam, which is used to adjust the rotation angle of the UAV wing rib in the chord direction.

2. The solar-powered UAV wing rib assembly posture adjustment system according to claim 1 is characterized in that: The spanwise motion unit includes a spanwise linear guide, a spanwise motion slider and a spanwise drive assembly. The spanwise linear guide is arranged along the spanwise direction of the UAV wing, the spanwise motion slider is arranged on the spanwise linear guide, the spanwise drive assembly is connected to the spanwise motion slider to drive the spanwise motion slider to move along the spanwise linear guide, and the chordwise motion unit is arranged on the spanwise motion slider.

3. The solar-powered UAV wing rib assembly posture adjustment system according to claim 2 is characterized in that: The spanwise driving assembly comprises a rack, a spanwise motion reducer, a spanwise motion servo motor and a spanwise motion unit encoder; The rack is parallel to the spanwise linear guide rail; The spanwise motion reducer is fixed to the spanwise motion slider via a reducer bracket, the output shaft of the spanwise motion servo motor is connected to the input shaft of the spanwise motion reducer, a gear is provided on the output shaft of the spanwise motion reducer, and the gear is meshed with the rack for transmission; The spanwise motion unit encoder is connected to the spanwise motion servo motor.

4. The solar-powered UAV wing rib assembly posture adjustment system according to claim 2 is characterized in that: A bearing structure plate is provided on the spanwise motion slider, a column is provided on the bearing structure plate, a column transfer structure plate is provided on the top of the column, and the chordwise motion unit is arranged on the column transfer structure plate.

5. The solar-powered UAV wing rib assembly posture adjustment system according to claim 1 is characterized in that: The chord-wise motion unit includes a chord-wise linear guide, a chord-wise motion slider and a chord-wise drive assembly. The chord-wise linear guide is arranged on the span-wise motion unit along the chord direction of the UAV wing. The chord-wise motion slider is arranged on the chord-wise linear guide. The chord-wise drive assembly is connected to the chord-wise motion slider to drive the chord-wise motion slider to move along the chord-wise linear guide. A dust cover is provided on the chord-wise drive assembly. A chord-wise slider transfer structure plate is provided on the chord-wise motion slider. The height motion unit is arranged on the chord-wise slider transfer structure plate.

6. The solar-powered UAV wing rib assembly posture adjustment system according to claim 5 is characterized in that: The chordal drive assembly includes a chordal ball screw, a chordal motion servo motor and a chordal motion unit encoder, the screw of the chordal ball screw is parallel to the chordal linear guide, the output shaft of the chordal motion servo motor is connected to the screw of the chordal ball screw through a chordal motion coupling, the chordal motion slider is connected to the nut of the chordal ball screw, and the chordal motion unit encoder is connected to the chordal motion servo motor.

7. The solar-powered UAV wing rib assembly posture adjustment system according to claim 1 is characterized in that: The height motion unit includes a vertical linear guide, a vertical motion slider and a vertical drive assembly. The vertical linear guide is arranged on the chordal motion unit along the vertical direction. The vertical motion slider is arranged on the vertical linear guide. The vertical drive assembly is connected to the vertical motion slider to drive the vertical motion slider to move along the vertical linear guide. The profile fixing unit is arranged on the vertical motion slider. The vertical linear guide is provided with reinforcing ribs. The vertical motion slider is provided with a height slider transfer structure plate. The profile fixing unit is arranged on the height slider transfer structure plate.

8. The solar-powered UAV wing rib assembly posture adjustment system according to claim 7 is characterized in that: The vertical drive assembly includes a height ball screw, a height direction motion servo motor and a height direction motion encoder. The screw of the height ball screw is parallel to the vertical linear guide. The output shaft of the height direction motion servo motor is connected to the screw of the height ball screw through a height motion coupling. The vertical motion slider is connected to the nut of the height ball screw. The height direction motion encoder is connected to the height direction motion servo motor.

9. The solar-powered UAV wing rib assembly posture adjustment system according to claim 1 is characterized in that: The motion control system includes a host computer, a motion controller and a plurality of servo motor drivers. The host computer is connected to the motion controller, the motion controllers are respectively connected to the servo motor drivers, and each of the servo motor drivers is connected to one of the posture adjustment modules.

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