A Buffer Separation Control Method for a Folding-Wing UAV and a Carrier

Abstract

The present invention relates to a buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier, belonging to the technical field of unmanned aerial vehicles, and solving the technical problems that the folding-wing unmanned aerial vehicle is prone to deformation during the separation process from the carrier, the separation process is not smooth, and the folding-wing unmanned aerial vehicle cannot be directly reused after separation. The method of the present invention includes the control steps of preparing the carrier, flying the carrier and the unmanned aerial vehicle integrally, opening the parachute to reduce the speed after the parachute compartment cover is separated, separating the carrier from the folding-wing unmanned aerial vehicle, unfolding the front wing and the rear wing of the folding-wing unmanned aerial vehicle, unfolding the vertical wing of the folding-wing unmanned aerial vehicle, separating the parachute compartment, and the folding-wing unmanned aerial vehicle entering the cruise flight. The buffer separation control method for the folding-wing unmanned aerial vehicle and the carrier of the present invention realizes the flexible installation and rapid separation of the folding-wing unmanned aerial vehicle and the carrier, optimizes the process of wing unfolding and the separation process of the folding-wing unmanned aerial vehicle and the carrier, has a high integration degree of the control process, small deformation of the folding-wing unmanned aerial vehicle, and is easy to reuse.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier vehicle. Background Art

[0002] In recent years, folding-wing unmanned aerial vehicles have been widely used in various industries and fields. The technology of folding-wing unmanned aerial vehicles has become increasingly mature, and its application and development in the military field have been particularly rapid.

[0003] The folding-wing unmanned aerial vehicle in a carrier vehicle is different from a conventional unmanned aerial vehicle. Compared with a conventional fixed-wing folding-wing unmanned aerial vehicle, the folding-wing unmanned aerial vehicle in a carrier vehicle has many advantages. For example, it is small in size, light in weight, convenient for transportation and carrying, and has various launch platforms, especially the folding-wing unmanned aerial vehicle in a tube-type carrier vehicle. However, to achieve these technical advantages, the structural requirements for the folding-wing unmanned aerial vehicle in a carrier vehicle are very high, especially for the buffer separation structure. The folding-wing unmanned aerial vehicle in a carrier vehicle not only requires the folding-wing unmanned aerial vehicle to be firmly installed in the carrier, and be able to fly to the target area safely and stably as a whole, but also requires the separation mechanism to buffer and transmit the separation force under harsh mechanical environments, so as to avoid large deformations of the folding-wing unmanned aerial vehicle in the carrier caused by the separation force, resulting in jamming, inconvenience or even inability to separate. In addition, after the folding-wing unmanned aerial vehicle detaches from the carrier vehicle, it needs to adjust its flight characteristics by deploying the wings in the near space. The buffer separation control of the folding-wing unmanned aerial vehicle in a carrier vehicle should ensure that the carrier vehicle and the folding-wing unmanned aerial vehicle are in good flight states during separation, and the folding-wing unmanned aerial vehicle has good flight characteristics in the near space.

[0004] To achieve the above objectives, and to safely and stably complete the separation of the carrier vehicle and the folding-wing unmanned aerial vehicle quickly within a predetermined time, and to implement the recycling and reuse of the folding-wing unmanned aerial vehicle, it is necessary to re-consider the current buffer and separation process control of the folding-wing unmanned aerial vehicle in a carrier vehicle. Summary of the Invention

[0005] In view of the above analysis, the present invention aims to provide a buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier vehicle, so as to solve the technical problems that the current integrated flight performance of a carrier vehicle needs to be improved, the separation process cannot meet the requirements of safely, quickly and stably separating the carrier vehicle and the folding-wing unmanned aerial vehicle, and the recycled folding-wing unmanned aerial vehicle cannot be directly reused.

[0006] The present invention is realized through the following technical solutions:

[0007] A buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier vehicle, which is used to control the process of the folding-wing unmanned aerial vehicle from the integrated flight state with the carrier vehicle to detaching from the carrier vehicle and entering the cruise flight state; the steps of the buffer separation control method for the folding-wing unmanned aerial vehicle and the carrier vehicle include:

[0008] S1. Prepare the carrier vehicle. The carrier vehicle enters the integrated flight state under the protection of the buffer assembly.

[0009] S2. Control the separation of the parachute compartment cover through the separation assembly, deploy the parachute, and reduce the speed.

[0010] S3. Control the separation of the folding-wing UAV from the carrier vehicle through the separation assembly.

[0011] S4. Control the deployment of the wings of the folding-wing UAV.

[0012] S5. Control the separation of the parachute compartment through the separation assembly.

[0013] S6. The flight control machine controls the folding-wing UAV to enter the cruise flight state.

[0014] Furthermore, in S1, it includes installing a buffer assembly, installing a folding-wing UAV (4), and installing a separation assembly in the carrier vehicle.

[0015] Furthermore, the steps of installing the buffer assembly in S1 include connecting the payload compartment and the inner layer of the payload compartment with a radial fixing unit, connecting the inner layer of the payload compartment and the folding-wing UAV with a flexible adapter, and connecting the folding-wing UAV and the parachute compartment with a hollow shaft.

[0016] Furthermore, the steps of installing the separation assembly in S1 include connecting the parachute compartment cover and the parachute compartment through a parachute compartment cover separation unit, connecting the parachute compartment and the control cabin through a carrier vehicle separation unit, and connecting the parachute compartment and the folding-wing UAV through a parachute compartment separation unit.

[0017] Furthermore, the process of separating the parachute compartment cover in S2 includes detonating the first explosive fastener in the parachute compartment cover separation unit, the fixing hook of the parachute compartment cover separation unit falling off, and the parachute compartment cover separating from the parachute compartment.

[0018] Furthermore, the separation of the folding-wing UAV from the carrier vehicle in S3 includes detonating the third explosive fastener of the separation unit, making the folding-wing UAV lose the axial limit of the control cabin, and separating from the carrier vehicle; wherein, the parachute compartment is connected to the flange through a second explosive fastener.

[0019] Furthermore, the steps of deploying the wings of the folding-wing UAV in S4 include:

[0020] S41. Control the deployment of the front wing and the rear wing of the folding-wing UAV through the retractable device.

[0021] S42. Control the deployment of the vertical wing of the folding-wing UAV through the vertical wing rotation assembly.

[0022] Further, S41 includes the steps of starting two deployment devices of the folding-wing unmanned aerial vehicle, and the two deployment devices respectively driving the left and right wings of the front wing and the rear wing to unfold from both sides of the folding-wing unmanned aerial vehicle fuselage. Among them, the two deployment devices are connected to both ends of the folding-wing unmanned aerial vehicle fuselage.

[0023] Further, S42 includes the steps of starting the vertical-wing rotation assembly and the vertical wing rotating upward in the same direction from both sides of the folding-wing unmanned aerial vehicle fuselage to be perpendicular to the folding-wing unmanned aerial vehicle fuselage. Among them, the vertical-wing rotation assembly is connected to the rear part of the deployment device at the rear end of the folding-wing unmanned aerial vehicle fuselage.

[0024] Further, S5 includes the step of detonating the second explosive fastener in the parachute compartment separation unit, and separating the parachute compartment from the folding-wing unmanned aerial vehicle.

[0025] Compared with the prior art, the present invention can at least achieve one of the following beneficial effects:

[0026] 1. The carrier preparation step of the present invention includes the step of installing the folding-wing unmanned aerial vehicle into the carrier through the buffer assembly and the separation assembly; the buffer assembly can achieve flexible installation and minimum limitation of the folding-wing unmanned aerial vehicle in the carrier, which is beneficial for the simple structure of the separation assembly, small deformation of the folding-wing unmanned aerial vehicle and easy to escape; the separation assembly can complete three groups of separation steps through a simple and accurate detonation sequence of fastening bolts, with a compact process, without damaging the carrier and the folding-wing unmanned aerial vehicle, meeting the requirements of direct reuse of the folding-wing unmanned aerial vehicle.

[0027] 2. Different forms of explosive bolts are used in the separation control of the folding-wing unmanned aerial vehicle and the carrier of the present invention, and the wing unfolding process and separation process of the folding-wing unmanned aerial vehicle are comprehensively optimized, so that the separation process of the folding-wing unmanned aerial vehicle and the carrier and the optimization of the near-space flight characteristics of the folding-wing unmanned aerial vehicle are organically unified.

[0028] 3. The separation control process of the folding-wing unmanned aerial vehicle and the carrier of the present invention has a high degree of integration, and the structure used is simple, small in volume, simple to assemble and easy to replace.

[0029] In the present invention, the above technical solutions can also be combined with each other to achieve more preferred combination schemes. Other features and advantages of the present invention will be described in the subsequent specification, and some advantages can be made obvious from the specification, or understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the content specifically pointed out in the specification and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings are only for the purpose of showing specific embodiments, and are not considered as a limitation to the present invention. Throughout the drawings, the same reference numerals represent the same components.

[0031] Figure 1 It is a flow block diagram of the buffer separation control method for the folding-wing UAV and the carrier of the present invention;

[0032] Figure 2 It is a perspective schematic diagram of the structure of the buffer separation device of the present invention;

[0033] Figure 3 For Figure 2 A partial enlarged schematic diagram of part A in

[0034] Figure 4 For Figure 3 A schematic diagram of the axial plane section of the structure;

[0035] Figure 5 For Figure 2 A partial schematic diagram of the B-B cross-sectional cut of ;

[0036] Figure 6 It is a schematic diagram of the structure of the parachute compartment of the present invention;

[0037] Figure 7 It is a schematic diagram of the installation structure of the parachute compartment cover installed on the parachute compartment of the present invention;

[0038] Figure 8 It is a schematic diagram of the installation where the inner layer of the payload compartment of the present invention is connected to the folding-wing UAV through a flexible adapter;

[0039] Figure 9 It is a partial schematic diagram of the structure of the inner layer of the payload compartment of the present invention;

[0040] Figure 10 It is a schematic diagram of the structure and installation of the radial fixing unit of the present invention;

[0041] Figure 11 It is a schematic diagram of the installation structure of the central axis and the flange plate of the present invention;

[0042] Figure 12 It is a schematic diagram of the hollow shaft structure of the present invention;

[0043] Figure 13 It is an axial cross-sectional schematic diagram of the leaf spring installation structure of the present invention;

[0044] Figure 14 It is a three-dimensional schematic diagram of the leaf spring installation structure of the present invention;

[0045] Figure 15 It is a three-dimensional schematic diagram of the leaf spring position of the present invention;

[0046] Figure 16 It is a schematic diagram of the folding state of the folding-wing UAV involved in the present invention;

[0047] Figure 17 It is a schematic diagram of the structure of the unfolding and folding device of the present invention;

[0048] Figure 18 This is a schematic diagram of the installation structure of the vertical wing rotation assembly of the present invention.

[0049] Reference numerals:

[0050] 1. Carrier head; 2. Payload compartment; 3. Control compartment; 4. Folding wing unmanned aerial vehicle; 41. Front wing; 42. Rear wing; 43. Vertical wing; 44. Deployment and retraction device; 441. Deployment and retraction power assembly; 442. Slideway; 443. Slide carriage; 444. Tie rod assembly; 45. Vertical wing rotation assembly; 451. Vertical wing motor; 452. Vertical wing transmission pair; 5. Leaf spring; 6. Inner layer of payload compartment; 7. Radial fixing unit; 71. Radial fixing part; 72. Radial insertion part; 73. Radial flexible body; 8. Motor; 91. First explosive fastener; 92. Second explosive fastener; 93. Third explosive fastener; 10. Parachute compartment; 11. Flange; 12. Hollow shaft; 13. UAV tail frame; 14. Front frame; 141. Front frame groove; 15. Flexible adapter; 16. Limit block; 17. Parachute compartment cover; 18. Parachute compartment cover fixing hook; 19. Parachute compartment groove. Detailed implementation manners

[0051] The following will specifically describe the preferred embodiments of the present invention with reference to the accompanying drawings. The accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principles of the present invention, rather than to limit the scope of the present invention.

[0052] The following will be combined with Figures 1 - 18 , and more specifically describe the technical solutions of the present invention:

[0053] As Figure 1 shown, the present invention specifically relates to a method for controlling the buffered separation of a folding wing unmanned aerial vehicle and a carrier. The purpose is to stably install the folding wing unmanned aerial vehicle 4 in the carrier through flexible installation and flight control, and to enable the folding wing unmanned aerial vehicle 4 to transition from the state of flying integrally with the carrier to the state of disengaging from the carrier and entering the cruise flight state.

[0054] Specific steps of the method for controlling the buffered separation of the folding wing unmanned aerial vehicle and the carrier of the present invention:

[0055] S1. Prepare the airborne carrier and the dropping carrier, and enable the carrier to enter the integral flight state under the protection of the buffer assembly.

[0056] Before the carrier enters the flight state, it needs to be reasonably installed according to the structural characteristics of the buffer assembly and the separation assembly. The installation steps are as follows

[0057] Install the deployment device 44 and the vertical wing rotation assembly 45 on the truss of the folding-wing UAV 4; install the flight control computer and the skin of the folding-wing UAV 4 around the truss to form a fuselage with an open tail; install the front wing 41, the rear wing 42 and the vertical wing 43 on the fuselage.

[0058] Install the limit block 16 and the leaf spring 5 on the side wall of the fuselage of the folding-wing UAV 4, install the motor 8 and the hollow shaft 12 on the UAV tail frame 13; install the UAV tail frame 13 on the tail of the folding-wing UAV 4 fuselage.

[0059] Connect the inner layer 6 of the payload compartment to the payload compartment 2 through the radial fixing unit 7.

[0060] Push the folding-wing UAV 4 into the inner layer 6 of the payload compartment and limit it through the flexible adapter 15 with the inner layer 6 of the payload compartment.

[0061] The middle part of the flange 11 is connected to the folding-wing UAV 4 through the hollow shaft 12.

[0062] The inner circumference of the first end of the parachute compartment 10 is connected to the flange 11 through the second explosive fastener 92, and the second explosive fastener 92 is used for the separation of the parachute compartment.

[0063] The outer circumference of the first end of the parachute compartment 10 is connected to the control compartment 3 through the third explosive fastener 93; the third explosive fastener 93 is used for the separation of the folding-wing UAV 4 from the carrier.

[0064] The second end of the parachute compartment 10 is connected to the parachute compartment cover 17 through the first explosive fastener 91 and the parachute compartment cover fixing hook 18; the first explosive fastener 91 is used for the separation of the parachute compartment cover from the carrier for parachute opening and speed reduction. The first explosive fastener 91 is preferably a top-explosion bolt.

[0065] Complete the installation of the carrier vehicle, and the preparation work of the carrier vehicle ends. Launch the carrier vehicle so that the carrier vehicle enters the integrated flight state under the protection of the buffer assembly.

[0066] S2. Control the separation of the parachute compartment cover 17 through the separation assembly to open the parachute and reduce the speed.

[0067] When the flight control computer issues a parachute-opening command, the top-explosion bolt of the first explosive fastener 91 explodes, generating an explosive force to push out the screw that is screwed onto the first explosive fastener 91 to fix the parachute compartment cover 17 to the parachute compartment 10. The parachute compartment cover 17 is pushed on one side, causing the parachute compartment cover 17 to rotate with the parachute compartment cover fixing hook 18 as the hinge point. The parachute compartment cover fixing hook 18 then rotates and disengages from the parachute compartment groove 19, and the parachute compartment cover fixing hook 18 falls off. The other side of the parachute compartment cover 17 also gets out of the limit, so that the entire parachute compartment cover 17 is separated from the parachute compartment 10, and the folding-wing UAV 4 with the parachute comes out and opens, achieving the purpose of parachute opening.

[0068] After the parachute is opened, the carrier vehicle decelerates during flight, and the opened folding-wing unmanned aerial vehicle 4's parachute generates a force that drags the folding-wing unmanned aerial vehicle 4. At this time, the unmanned aerial vehicle tail frame 13 is still fixed to the frame of the control cabin 3 of the carrier vehicle, and the folding-wing unmanned aerial vehicle 4 is still limited within the inner layer 6 of the payload compartment.

[0069] S3. Control the separation of the folding-wing unmanned aerial vehicle 4 from the carrier vehicle through the separation component.

[0070] After the flight control computer issues an instruction for the folding-wing unmanned aerial vehicle 4 to separate from the carrier vehicle, the second explosive fastener 92 detonates and breaks, and the only axial positioning of the folding-wing unmanned aerial vehicle 4 at the unmanned aerial vehicle tail frame 13 is released. Protected by the leaf spring 5 installed on the outer wall of the folding-wing unmanned aerial vehicle 4, the folding-wing unmanned aerial vehicle 4's parachute drags the folding-wing unmanned aerial vehicle 4, and the folding-wing unmanned aerial vehicle 4 quickly pulls out of the inner layer 6 of the payload compartment, realizing the separation of the folding-wing unmanned aerial vehicle 4 with parachute from the carrier vehicle.

[0071] S4. Control the unfolding of the wings of the folding-wing unmanned aerial vehicle 4.

[0072] S41. Control the unfolding of the front wing 41 and the rear wing 42 of the folding-wing unmanned aerial vehicle 4 through the deployment and retraction device 44;

[0073] After the folding-wing unmanned aerial vehicle 4 separates from the carrier vehicle, the flight control computer synchronously starts the two deployment and retraction motors in the front wing 41 and the rear wing 42; the left and right wings of the front wing 41 driven by the deployment and retraction motor of the front deployment and retraction device 44 rotate in opposite directions around the hinge axis above the nose of the folding-wing unmanned aerial vehicle 4 and unfold relative to the fuselage; the left and right wings of the rear wing 42 driven by the deployment and retraction motor of the rear deployment and retraction device 44 rotate in opposite directions around the hinge axis below the tail of the folding-wing unmanned aerial vehicle 4 and unfold relative to the fuselage.

[0074] In this specific embodiment, a deployment and retraction proximity switch is provided on the deployment and retraction device 44 to emit a ground / open signal. The deployment and retraction proximity switch is installed at the limit position set by the slideway stop or the limit plate; when the left and right wings reach the position of the maximum deployment and retraction angle, the ground / open signal of the deployment and retraction proximity switch is transmitted to the flight control computer through the controller of the deployment and retraction motor; the flight control computer receives the first signal; the flight control computer issues an instruction to brake the deployment and retraction motor according to the received first signal; and starts the next movement of the folding-wing unmanned aerial vehicle 4;

[0075] S42. Control the unfolding of the vertical wing 43 of the folding-wing unmanned aerial vehicle 4 through the vertical wing rotation component.

[0076] After receiving the instruction that the action of S41 is completed, the flight control machine sends a start instruction to the vertical wing motor 451; the vertical wing motor 451 drives the vertical wing rotating shaft to rotate through a gear pair, and the vertical wing rotating shaft drives the vertical wing 43 to stand up from the side of the fuselage of the folding-wing unmanned aerial vehicle 4 and extend upward; when the vertical wing rotates in place, the ground / open signal indicating the limit position from the proximity switch installed at the vertical wing rotating shaft is transmitted to the flight control machine through the controller of the vertical wing motor 451; the flight control machine receives this second signal; the flight control machine issues an instruction to brake the vertical wing motor 451 according to the received second signal;

[0077] At this time, the deployment and retraction device 44 drives the left and right wings of the front wing 41 and the rear wing 42 to deploy in place; the vertical wing rotating assembly drives the vertical wing 43 to rotate in place. The flight control machine issues an instruction to end the wing deployment; the vertical wing motor 451 and the deployment and retraction motor in the deployment and retraction power assembly 441 are locked, and the folding-wing unmanned aerial vehicle 4 flies stably in the near space under the damping of the parachute of the folding-wing unmanned aerial vehicle 4.

[0078] S5. Control the separation of the parachute compartment through the separation component.

[0079] After the flight control machine issues a parachute release instruction, the second explosive fastener 92 detonates and breaks, separating the parachute compartment 10 from the flange 11, and the parachute compartment 10 detaches with the parachute of the folding-wing unmanned aerial vehicle 4, realizing the separation of the parachute compartment 10 from the folding-wing unmanned aerial vehicle 4. After completing the parachute release instruction of the folding-wing unmanned aerial vehicle 4, the folding-wing unmanned aerial vehicle 4 completes the entire separation process and is ready to enter the cruise flight state.

[0080] S6. The flight control machine controls the folding-wing unmanned aerial vehicle 4 to enter the cruise flight state.

[0081] When the flight control machine receives the signal that the parachute compartment 10 has detached, it issues an instruction for the folding-wing unmanned aerial vehicle 4 to enter the cruise flight. The folding-wing unmanned aerial vehicle 4 enters the cruise flight state in the near space under the control of the set near-space flight parameters.

[0082] The control of the buffer separation between the folding-wing unmanned aerial vehicle 4 and the carrier vehicle ends.

[0083] Combined with the attached Figures 2 - 17 , the structure of the carrier vehicle including the buffer component and the separation component is introduced in detail as follows:

[0084] As Figure 2 shown, the carrier vehicle includes a carrier vehicle, a folding-wing unmanned aerial vehicle 4, a buffer component and a separation component. The carrier vehicle includes a carrier vehicle head 1, a folding-wing unmanned aerial vehicle 4, a carrier vehicle payload compartment 2 and a control compartment 3; among them, a flight control machine is installed on the folding-wing unmanned aerial vehicle 4. The buffer separation device of the carrier vehicle includes an inner layer 6 of the payload compartment, a parachute compartment 10, a buffer component and a separation component; the buffer component includes a radial fixing unit 7, a flexible adapter 15 and a hollow shaft 12; the separation component includes a parachute compartment cover separation unit, a separation unit and a parachute compartment separation unit.

[0085] As shown Figure 10 in the figure, the radial fixing unit 7 includes a radial fixing portion 71 and a radial plugging portion 72; the radial fixing portion 71 is connected to the payload compartment 2, and the radial plugging portion 72 is connected to the outer wall of the inner layer 6 of the payload compartment. In the installation state, the positions of the radial fixing portion 71 and the radial plugging portion 72 are matched; a plurality of radial fixing units 7 are arranged in groups, and the plurality of radial fixing units 7 in a group are circumferentially and uniformly distributed on the payload compartment 2, and multiple groups of radial fixing units 7 are axially and uniformly distributed along the payload compartment 2. In this embodiment, the radial fixing unit 7 further includes a radial flexible body 73; the radial flexible body 73 is made of a composite flexible body and is adhered to the inner surface of the radial fixing portion 71 or the outer surface of the radial plugging portion 72, or the radial flexible body 73 is adhered to both surfaces.

[0086] As shown Figure 2 in the figure, preferably, in the present invention, on 4 generatrices at 45° and 135° of the circumference, radial fixing units 7 are installed on 3 uniformly distributed cross-sections, and a total of 12 are arranged.

[0087] Further preferably, as shown Figure 10 in the figure, a locally penetrating payload compartment sink structure is provided on the payload compartment 2, and sink fixing threaded holes are provided on the periphery of the penetrating portion in the payload compartment sink. The radial fixing portion 71 is matched and positioned in the payload compartment sink structure. Preferably, the radial fixing portion 71 is a stepped block structure, the large end size of the radial fixing portion 71 matches the payload compartment sink, and a plurality of fixing sink holes corresponding to the sink fixing threaded holes are provided. The small end of the radial fixing portion 71 passes through the penetrating portion in the payload compartment sink. A penetrating radial fixing portion mounting hole is provided at the central position of the radial fixing portion 71. The fixing sink holes and the payload compartment sink structure are both for the installation of the radial fixing unit 7 not to have a structural impact on the outside and to avoid unnecessary mechanical impacts during flight.

[0088] As shown Figure 10 in the figure, preferably in this embodiment, the inner surface of the radial plugging portion 72 is shaped and connected to the outer wall of the inner layer 6 of the payload compartment. A radial plugging strengthening portion with a boss structure is provided on the outer surface of the radial plugging portion 72, and a radial plugging threaded hole is provided at the central position of the radial plugging strengthening portion. The radial plugging threaded hole corresponds to the radial fixing portion mounting hole in position during installation.

[0089] The payload compartment 2 and the inner layer 6 of the payload compartment are stably connected to the radial fixing portion 71 and the radial plugging portion 72 through a payload compartment bolt with a positioning pin; wherein, the positioning portion of the payload compartment bolt is located in the radial fixing portion mounting hole after installation, and the threaded portion of the payload compartment bolt is screwed into the radial plugging threaded hole.

[0090] Further preferably, the radial fixing unit 7 further includes a radial flexible body 73. The radial flexible body 73 is a composite flexible material capable of storing or dissipating impact energy, and is adhered to the outer surface of the radial insertion portion 72 by an adhesive. A through hole is provided in the middle to facilitate connecting the radial fixing portion 71 and the radial insertion portion 72 together by a fastener.

[0091] As Figure 5 and Figure 8 As shown, a front frame 14 is symmetrically arranged at the axial horizontal middle plane on the inner side of the inner layer 6 of the payload compartment at the head of the payload compartment 2. A front frame groove 141 is arranged inside the front frame 14, and one end of the front frame groove 141 close to the head of the payload compartment 2 is a blind end.

[0092] The flexible adapter 15 is adhered to the outer surface of the limit block 16 by an adhesive, or adhered to the inner surface of the front frame groove 141 by an adhesive. In this embodiment, preferably, the inner surface of the front frame groove 141 is connected to the flexible adapter 15 by an adhesive. Specifically, like the radial flexible body 73, the flexible adapter 15 is made of a composite flexible material and has the functions of absorbing energy and dissipating impact force.

[0093] As Figure 5 and Figure 8 As shown, limit blocks 16 are symmetrically arranged on both sides of the nose of the folding-wing unmanned aerial vehicle 4; in the installed state, the two limit blocks 16 are respectively limited in the front frame groove 141. In this embodiment, preferably, the limit blocks 16 are arranged on the longitudinal trusses of the outer wall of the folding-wing unmanned aerial vehicle 4 to increase the position stability of the limit blocks 16 on the folding-wing unmanned aerial vehicle 4.

[0094] As Figure 9As shown in the figure, one end of the front frame slot 141 close to the head of the inner layer 6 of the payload compartment is a blind end, which can limit the axially movement of the folding-wing UAV 4 in the inner layer 6 of the payload compartment towards the head 1 of the carrier; the limiting blocks 16 are limited within the side walls of the front frame slot 141, which can stabilize the circumferential position of the folding-wing UAV 4 in the inner layer 6 of the payload compartment; the flexible adapter 15 covers the inner wall of the front frame slot 141, which can store or dissipate the impact energy generated during flight, reduce the amplitude of the impact pulse transmitted to the folding-wing UAV 4 by the impact force, and make the dynamic stress on the folding-wing UAV 4 less than its failure limit value and the strength limit of the material, so as to achieve the purpose of protecting the folding-wing UAV 4 against high overload. The material of the flexible adapter 15 is characterized by strong impact energy absorption ability. Under the action of impact load, it can absorb and dissipate a large amount of shock wave energy during the deformation and compaction process, reduce the impact on the folding-wing UAV 4, and achieve the purpose of further protecting the folding-wing UAV 4. When the impact intensity is relatively small, the flexible material of the flexible adapter 15 can play a role in slowing down the impact force; when the impact intensity is relatively large, relying on the large plastic deformation of the flexible material used in the flexible adapter 15, the impact energy is dissipated. In addition, in the buffer separation device of the entire carrier, in the installation state where the carrier and the carrier fly together, the folding-wing UAV 4 is symmetrically limited only on both sides of the front frame 14. On the one hand, in cooperation with the limit at the tail frame 13 of the UAV, fewer limits can make the axial and circumferential positions of the folding-wing UAV 4 stable and not easily deformed; on the other hand, during the separation process of the folding-wing UAV 4 and the carrier, due to fewer limits, the folding-wing UAV 4 has no redundant limit interference and can quickly escape.

[0095] As Figure 2 、 Figure 6 shown in the figure, a parachute compartment cover separation unit is connected to one side in the radial direction of the second end of the parachute compartment 10; a parachute compartment cover fixing hook 18 is connected to the opposite side in the radial direction of the parachute compartment cover separation unit, and the parachute compartment cover fixing hook 18 is inserted into the parachute compartment slot 19 provided on the parachute compartment 10.

[0096] As Figure 6 and Figure 7 shown in the figure, preferably in this embodiment, the parachute compartment cover separation unit is the first explosive fastener 91 fixedly installed on the side wall of the port of the second end of the parachute compartment 10, and two parachute compartment cover fixing hooks 18 are overlapped on the parachute compartment 10 through the parachute compartment slot 19 on the parachute compartment 10. A parachute compartment cover 17 is connected to the second end of the parachute compartment 10; specifically, the parachute compartment cover 17 is connected to the parachute compartment 10 through the connection of the fastener with the first explosive fastener 91 and the parachute compartment cover fixing hook 18. The top explosion bolt of the first explosive fastener 91 fastens the parachute compartment cover 17 in the screw hole provided at the top of the first explosive fastener 91 through a screw.

[0097] After the flight control system issues a parachute-opening command, the top-burst bolt of the first explosive fastener 91 explodes, generating an explosive thrust in the direction of the screw, pushing the screw out. The parachute bay cover 17 is pushed on one side, causing the parachute bay cover 17 to rotate around the parachute bay cover fixing hook 18 as the hinge point. The parachute bay cover fixing hook 18 then rotates and disengages from the parachute bay groove 19, and the parachute bay cover fixing hook 18 falls off. The other side of the parachute bay cover 17 also disengages from the limit, so that the entire parachute bay cover 17 is separated from the parachute bay 10, and the UAV's parachute is released and opened, achieving the purpose of parachute opening.

[0098] As Figure 2 shown, the buffer separation device of the carrier vehicle further includes a motor 8 and a hollow shaft 12.

[0099] As Figure 3 and Figure 4 shown, the motor 8 is installed on the first side outside the UAV tail frame 13. In this embodiment, it is preferably a servo motor with a hole in the center and is controlled by a servo controller. The motor 8 provides power for the integrated flight of the carrier vehicle and the folded-wing UAV 4 after separation from the carrier vehicle. The central hole of the motor 8 also provides circumferential limitation for the hollow shaft 12, playing a role in stabilizing the position of the hollow shaft 12.

[0100] As Figure 11 and Figure 12 shown, the first end of the hollow shaft 12 is provided with a large hollow shaft flange, and a small hollow shaft flange is arranged near the second end of the hollow shaft 12. The large hollow shaft flange is connected to the second side inside the UAV tail frame 13 within the folded-wing UAV 4, passes through the UAV tail frame 13 and the central hole of the motor 8. The second end of the hollow shaft 12 is positioned on the shaft platform provided at the center of the flange plate 11 through its own small hollow shaft flange and is connected to the flange plate 11 by a pin shaft at this shaft platform. The flange plate 11 is connected to the parachute bay 10 through the parachute bay separation unit of the separation assembly. The parachute bay separation unit includes a second explosive fastener 92.

[0101] Specifically, the hollow shaft 12 on the UAV tail frame 13 belongs to the buffer assembly. The hollow shaft 12 is connected to the parachute bay 10 through the flange plate 11, so that the damping force of the parachute can be buffered and transmitted to the hollow shaft 12, the UAV tail frame 13, the fuselage stringer, and the skin through the parachute bay 10 and the flange plate 11, thereby realizing the buffered transmission of force under large impact conditions through the deformation of the hollow shaft 12 and avoiding the destructive deformation of the folded-wing UAV 4.

[0102] Specifically, in this embodiment, it is preferably that the second explosive fastener 92 and the third explosive fastener 93 are fracture-type explosive bolts. The middle part of the first end of the parachute bay 10 is connected to the flange plate 11 by 3 second explosive fasteners 92. The flange plate 11 is connected to the UAV tail frame 13 through the hollow shaft 12 and is connected to the folded-wing UAV 4, which can realize the connection between the folded-wing UAV 4 and the parachute bay 10.

[0103] As shown Figure 3 in FIG. 1, at the outer circumference of the first end of the umbrella compartment 10, three evenly distributed third explosive fasteners 93 are connected to the frame of the control compartment 3. The folding-wing unmanned aerial vehicle 4 is axially positioned on the control compartment 3 by the connected umbrella compartment 10 through the third explosive fasteners 93, realizing the axial positioning of the folding-wing unmanned aerial vehicle 4 and the carrier vehicle.

[0104] As shown Figure 13 in Figure 14 FIGS. 2 and 3, the leaf spring 5 is an elastic body with a hook. A plurality of leaf springs 5 are evenly distributed and connected to the outer side surface of the folding-wing unmanned aerial vehicle 4 along the axial and circumferential directions of the folding-wing unmanned aerial vehicle 4, and the outer circular part of the hook contacts the inner wall of the inner layer 6 of the load compartment with elastic tension.

[0105] As shown Figure 15 in FIG. 4, preferably, at least three pairs of leaf springs 5 are evenly distributed on the longerons on both sides of the folding-wing unmanned aerial vehicle 4. The leaf springs 5 are axially located on one side of the limit block 16, specifically in the direction away from the head of the folding-wing unmanned aerial vehicle 4. The leaf springs 5 play a role in isolating the folding-wing unmanned aerial vehicle 4 and the inner layer 6 of the load compartment during the process of the folding-wing unmanned aerial vehicle 4 exiting the carrier vehicle, so that the folding-wing unmanned aerial vehicle 4 never contacts the inner layer 6 of the load compartment, protecting the integrity of the overall structure of the folding-wing unmanned aerial vehicle 4.

[0106] As shown Figure 16 in FIG. 5, the folding-wing unmanned aerial vehicle 4 includes a front wing 41, a rear wing 42, a vertical wing 43, a deployment and retraction device 44, and a vertical wing rotation assembly 45; the front wing 41 and the rear wing 42 respectively include their left wings and right wings. The left wing and the right wing of the front wing 41 are hinged above the head of the folding-wing unmanned aerial vehicle 4; the left wing and the right wing of the rear wing 42 are hinged below the tail of the folding-wing unmanned aerial vehicle 4.

[0107] As shown Figure 17 in FIG. 6, the deployment and retraction device 44 includes a deployment and retraction power assembly 441, a slideway 442, a carriage 443, and a tie rod assembly 444.

[0108] The deployment and retraction power assembly 441 includes a deployment and retraction motor, a deployment and retraction lead screw, and a deployment and retraction nut. The output shaft of the deployment and retraction motor is connected to the deployment and retraction lead screw through a coupling. The deployment and retraction lead screw and the deployment and retraction nut form a screw pair, converting the rotational power of the output shaft of the deployment and retraction motor into the linear displacement of the deployment and retraction nut. The deployment and retraction nut is connected to the carriage 443. The deployment and retraction power assembly 441 drives the carriage 443 to be limited in the slideway 442 to make a linear displacement; both ends of the carriage 443 are respectively provided with carriage connection handles, and the two carriage connection handles are respectively connected to a tie rod assembly 444. The two tie rod assemblies 444 are respectively limited and connected to the left wing and the right wing, driving the left wing and the right wing to rotate around their hinge points, realizing the rotational deployment of the left wing and the right wing relative to the fuselage of the folding-wing unmanned aerial vehicle 4.

[0109] As shown Figure 18As shown, the vertical wing rotating assembly 45 includes a vertical wing motor 451 and a vertical wing transmission pair 452; both ends of the vertical wing transmission pair 452 are provided with vertical wing output shafts; the vertical wing output shafts are connected to and drive the vertical wing 43 to rotate. Among them, the vertical wing motor 451 is connected to the fuselage truss at the rear of the fuselage, specifically located at the rear of the deployment device 44 installed at the rear end of the fuselage. Preferably, in this embodiment, the vertical wing motor 451 is a stepper motor, which outputs rotational power to the vertical wing transmission pair 452; the vertical wing transmission pair 452 is a gear pair, the driving pair is an external gear with a keyway in the central hole, which is connected to the output shaft of the vertical wing motor 451; the driven pair is an external gear with concentric shafts at both ends, and the concentric shaft is the vertical wing rotating shaft. The two ends of the vertical wing rotating shaft are of a prism structure, which stably limits and connects the vertical wing 43, so that the vertical wing 43 rotates synchronously with the vertical wing rotating shaft. The rotation of the vertical wing motor 451 is converted into the same-direction rotational movement of the vertical wing rotating shafts at both ends through the vertical wing transmission pair 452, driving the vertical wing 43 to rotate in the same direction within the vertical plane on the side of the fuselage of the folding-wing unmanned aerial vehicle 4.

[0110] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. At the same time, all devices equipped with this device to expand the application field and produce composite technical effects belong to the protection scope of this method invention.

Claims

1. A buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier, characterized in that, Used to control the process of the folding-wing unmanned aerial vehicle (4) transitioning from the integrated flight state with the carrier vehicle to disengaging from the carrier vehicle and entering the cruise flight state; The steps of the buffer separation control method for the folding-wing unmanned aerial vehicle and the carrier vehicle include: S1. Prepare the carrier vehicle, and the carrier vehicle enters the integrated flight state under the protection of the buffer assembly; The carrier vehicle includes a folding-wing unmanned aerial vehicle (4), a payload compartment (2), an inner layer of the payload compartment (6), a parachute compartment (10), a buffer assembly, and a separation assembly; the buffer assembly includes a radial fixing unit (7), a flexible adapter (15), and a hollow shaft (12); The radial fixing unit (7) includes a radial fixing portion (71), a radial plugging portion (72), and a radial flexible body (73); the radial fixing portion (71) is connected to the payload compartment (2), the radial plugging portion (72) is connected to the outer wall of the inner layer of the payload compartment (6), and the radial flexible body (73) adheres to the inner surface of the radial fixing portion (71) and / or the outer surface of the radial plugging portion (72); a plurality of radial fixing units (7) are arranged in groups, and the multiple radial fixing units (7) in the group are circumferentially evenly distributed on the payload compartment (2); Install the buffer assembly, the folding-wing unmanned aerial vehicle (4), and the separation assembly in the carrier vehicle; The step of installing the buffer assembly includes connecting the payload compartment (2) and the inner layer of the payload compartment (6) with the radial fixing unit (7), connecting the inner layer of the payload compartment (6) and the folding-wing unmanned aerial vehicle (4) with the flexible adapter (15), and connecting the folding-wing unmanned aerial vehicle (4) and the parachute compartment (10) with the hollow shaft (12); S2. Control the separation of the parachute compartment cover through the separation assembly, open the parachute, and reduce the speed; S3. Control the separation of the folding-wing unmanned aerial vehicle (4) from the carrier vehicle through the separation assembly; S4. Control the deployment of the wings of the folding-wing unmanned aerial vehicle (4); S5. Control the separation of the parachute compartment through the separation assembly; S6. The flight control machine controls the folding-wing unmanned aerial vehicle (4) to enter the cruise flight state.

2. The buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier according to claim 1, characterized in that, The step of installing the separation assembly in S1 includes connecting the parachute compartment cover (17) and the parachute compartment (10) through the parachute compartment cover separation unit, connecting the parachute compartment (10) and the control compartment (3) through the carrier vehicle separation unit, and connecting the parachute compartment (10) and the folding-wing unmanned aerial vehicle (4) through the parachute compartment separation unit.

3. The buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier according to claim 2, characterized in that, The process of separating the parachute compartment cover in S2 includes detonating the first explosive fastener (91) in the parachute compartment cover separation unit, the fixing hook (18) of the parachute compartment cover separation unit falling off, and the parachute compartment cover (17) separating from the parachute compartment (10).

4. The buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier according to claim 1, characterized in that, The separation of the folding-wing unmanned aerial vehicle (4) from the carrier vehicle in S3 includes detonating the third explosive fastener (93) of the carrier vehicle separation unit, causing the folding-wing unmanned aerial vehicle (4) to lose the axial limit of the control compartment (3), and separating from the carrier vehicle.

5. The buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier according to claim 4, characterized in that, The steps of deploying the wings of the folding-wing unmanned aerial vehicle (4) in S4 include: S41. Control the deployment of the front wing (41) and the rear wing (42) of the folding-wing unmanned aerial vehicle (4) through the retractable device; S42. Control the deployment of the vertical wing (43) of the folding-wing unmanned aerial vehicle (4) through the vertical wing rotation assembly.

6. The buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier according to claim 5, characterized in that, S41 includes the steps of activating two deployment devices (44) of the folding-wing UAV (4), and the two deployment devices (44) respectively driving the left and right wings of the front wing (41) and the rear wing (42) to unfold from the fuselage of the folding-wing UAV (4) to both sides.

7. The buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier according to claim 6, characterized in that, S42 includes the steps of activating the vertical-wing rotation assembly and the vertical wing (43) rotating upward from both sides of the fuselage of the folding-wing UAV (4) to be perpendicular to the fuselage of the folding-wing UAV (4).

8. The buffer separation control method for a folding-wing unmanned aerial vehicle and a carrier according to claim 7, characterized in that, method, In S5, it includes detonating the second explosive fastener (92) in the parachute compartment separation unit. The step of separating the parachute compartment (10) from the folding-wing UAV (4).

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