Folding wings of fixed-wing UAV for box-type launch and unlocking and folding method thereof

Abstract

The present invention discloses a folding wing of a fixed-wing UAV for box-type launch and a method for unlocking and folding the wing thereof. The folding wing is divided into two sections, inner and outer, along the wingspan direction, and specifically includes an inner wing, an outer wing, and a wing folding mechanism. The inner wing and the outer wing are connected by the wing folding mechanism; wherein the wing folding mechanism adopts a modular structural design, and the wing folding mechanism, as a total module, is respectively connected to the inner wing and the outer wing through a joint and a slot and is locked with fasteners. The present invention provides a modular design implementation scheme for the wing folding mechanism to complete the assembly of the wing folding mechanism and the connection and installation with the inner wing and the outer wing. The inner wing and the outer wing are closed at one time in the wing closing mold after the tooling locates the installation interface of the inner and outer wings.

Description

Technical Field

[0001] The present invention belongs to the field of aviation technology, and in particular relates to a wing folding, automatic unfolding and locking mechanism for a fixed-wing UAV for box-type launch and a modular design and implementation scheme thereof. Background Art

[0002] Currently, fixed-wing drones have two main wingspan configurations for takeoff: full-span and folded. The full-span configuration is widely used, boasts a simple and reliable structure, and mature technology, but it also has significant drawbacks, such as a large volumetric footprint. Folding wings, on the other hand, can effectively reduce the space occupied by drones, allowing for the deployment of more drone swarms in a smaller space and facilitating the rapid launch of drone clusters. However, compared to full-span wings, folding wings have significant disadvantages, including a complex structure, reduced reliability, and increased technical difficulty. Furthermore, the folded section of the wing has an incomplete aerodynamic shape, resulting in a loss of aerodynamic force.

[0003] Wing folding and unfolding typically involves a combination of motors, hydraulics, and elastic components. Motors and hydraulics are often used for high-load wings on carrier-based aircraft and fighter jets, and their deployment takes time and is relatively complex. Smaller drones, such as target drones and various missiles, require wing deployment with rapid takeoff, often requiring the use of elastic components to quickly deploy and securely lock them into place.

[0004] In recent years, market demand for swarm launches of drones, particularly target drones, has steadily increased. Traditional launch methods, with their long preparation times and high ground utilization rates, are inadequate for high-density swarm launches. Box-type launch systems are a key solution for high-density swarm launches of drones. Folding wings significantly reduce the space occupied by drones, shrinking the launch box size and increasing its density, making them a key technology essential for box-type launches. Summary of the Invention

[0005] To address the aforementioned technical issues, the present invention provides a wing folding, automatic deployment, and locking mechanism for fixed-wing UAVs designed for box-style launch. This mechanism enables a single operator to perform wing folding operations on the ground, automatically deploy the wings after the UAV is launched, and automatically lock the wings once fully deployed, preventing them from rebounding or vibrating. The wing folding mechanism provided by the present invention provides sufficient aerodynamic conformality, minimizing aerodynamic losses in the wing folding area.

[0006] To achieve the above-mentioned effects, the present invention provides a folding wing for a fixed-wing UAV for box-type launch. The folding wing is divided into two sections, inner and outer, along the wingspan direction. Specifically, it includes an inner wing, an outer wing, and a wing-folding mechanism. The inner and outer wings are connected by the wing-folding mechanism. The wing-folding mechanism adopts a modular structural design. The wing-folding mechanism, as a total module, is connected to the inner and outer wings respectively through joints and slots and locked with fasteners.

[0007] The folding rotation axis and folding separation surface of the wing folding mechanism adopt an offset design. The folding separation surface includes a cylindrical surface coaxial with the folding rotation axis and a plane perpendicular to the wingspan direction, and the plane is tangent to the cylindrical surface; the wing folding mechanism includes a fixed joint, a rotating joint, an inner mounting rib, and an outer mounting rib. The fixed joint, the rotating joint, the inner mounting rib, and the outer mounting rib all have the structural characteristics of the folding separation surface. The rotating joint and the outer mounting rib rotate with the rotating shaft as the center axis, and their folding separation surfaces coincide with the fixed joint and the inner mounting rib when unfolded.

[0008] Furthermore, the wing folding mechanism includes a folding rotation and locking module, a mounting connection and a pneumatic conformal module.

[0009] Furthermore, the folding, rotation and locking module includes a torque generating element, a front fixed joint, a front rotation joint, a rear fixed joint, a rear rotation joint, and a locking pin assembly. The fixed joint and the rotation joint are arranged in pairs, and are named according to the front and back of the flight direction. The front fixed joint is connected to the front beam of the inner wing, and the rear fixed joint is connected to the rear beam of the inner wing; the rotation joint is connected to one side of the outer wing, and is used to drive the outer wing to fold and unfold. The front rotation joint is connected to the front beam of the outer wing, and the rear rotation joint is connected to the rear beam of the outer wing, and is fastened with fasteners and conformal nuts. The two ends of the rotating shaft are fastened to the front fixed joint and the rear fixed joint with fasteners.

[0010] Furthermore, the mounting connection and pneumatic conformal module includes an inner mounting rib, an outer mounting rib, conformal covers and a conformal nut, etc. One end of the aforementioned torque generating element is connected to the inner mounting rib, and the other end is connected to the outer mounting rib to transmit torque;

[0011] The torque generating element includes a sleeve, which is coaxially connected to the rotating shaft and is sleeved on the rotating shaft. The two ends of the torsion spring are respectively connected to the inner mounting rib and the outer mounting rib; the pressure generating element includes two front and rear compression springs, which correspond one-to-one to the locking pin. The compression spring is installed on the outside of the locking pin and is installed on the locking pin mounting block.

[0012] Furthermore, the wing folding mechanism includes a locking pin assembly, which is installed on the side of the fixed joint that is connected to the inner wing mounting rib, and a groove is opened at the corresponding position of the inner wing mounting rib to leave its installation space. The locking pin assembly is used to lock the outer wing in its unfolded state after it is automatically unfolded into place.

[0013] Furthermore, the locking pin assembly is divided into two groups, front and rear, both of which are composed of a locking pin, a locking pin mounting block, and a pressure generating element. The locking pin assembly corresponds one-to-one to the front fixed joint and the rear fixed joint. The locking pin is installed on the outside of the fixed joint, and the locking pin passes through the corresponding fixed joint and the rotating joint; the pressure generating element passes through the locking pin tail rod section and is installed in the slide groove of the locking pin mounting block, and the locking pin mounting block is connected to the corresponding fixed joint through threaded fasteners.

[0014] Furthermore, the locking pin assembly adopts clearance fit with the limiting hole of the fixed joint and adopts tapered guide fit with the rotating joint.

[0015] Furthermore, the torque generating element generates torque and is constrained by the limiting structure of the launch device. After launch, the wing is released from the constraint, and the torque generating element and the aerodynamic lift of the outer wing drive the wing to complete automatic deployment. The torque size is determined by the wing load condition and the folding wing index.

[0016] Based on the above-mentioned method for unlocking and folding the folding wings of a fixed-wing UAV for box-type launch, the folding method includes:

[0017] Before the drone takes off, the wings are manually folded and loaded into the launch device. The specific steps include:

[0018] S1.1, manually push back the front locking pin to release the front locking structure from locking the front rotating joint;

[0019] S1.2, manually push back the rear lock pin to release the rear locking structure from locking the rear swivel joint;

[0020] S1.3, an external force overcomes the torque of the torsion spring, causing the outer mounting rib to rotate relative to the inner mounting rib. The angle of rotation is determined by the wing folding angle. The wing folding state is constrained by the limit structure of the UAV launch device.

[0021] After the drone takes off and detaches from the launcher, the launcher releases the constraints on the wings, and the wings automatically unfold and lock in the unfolded state. The specific steps include:

[0022] S2.1, the external mounting ribs automatically deploy under the combined action of the torsion spring torque and the aerodynamic lift of the outer wing;

[0023] S2.2, after the wings are unfolded to the straight position, the front locking pin is pressed into the tapered hole of the front rotating joint under the pressure of the front compression spring, and the rear locking pin is pressed into the tapered hole of the rear rotating joint under the pressure of the compression spring, thereby automatically locking the wings in the unfolded position.

[0024] The beneficial effects are:

[0025] 1) Reduce the space occupancy rate during drone launch, shorten the launch preparation time, and achieve rapid launch of drone clusters;

[0026] 2) The offset design of the folding axis and the folding surface creates a compact structure. The conformal design fully maintains the integrity of the wing's aerodynamic shape and avoids aerodynamic losses in the folded section of the wing.

[0027] 3) The force transmission line is short, the force transmission is direct, and the double locking mechanism is adopted, which has good structural strength, light weight and high reliability;

[0028] 4) The locking mechanism acts directly on the rotating joint through the fixed joint, and adopts a hole-shaft fit design with a front-end tapered guide fit design to eliminate the problem of wingtip flutter caused by the assembly gap of the folding mechanism;

[0029] 5) Adopting modular design, it has simple structure, convenient assembly and disassembly, low cost, easy maintenance and use;

[0030] 6) The mechanism has good compatibility and can be adapted to the folding of various fixed wings and tail wings with simple transformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention, the following briefly introduces the drawings required for use in the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 This is a schematic diagram of the overall structural composition of the folding wing of the present invention;

[0033] Figure 2 This is a schematic diagram of the overall structure of the wing folding mechanism of the present invention;

[0034] Figure 3 This is a schematic structural diagram of the folding, rotating and locking module of the folding mechanism of the present invention;

[0035] Figure 4 This is a schematic diagram of the unlocking and folding working process of the wing folding mechanism of the present invention;

[0036] Figure 5 This is a schematic diagram of the automatic unfolding and locking working process of the wing folding mechanism of the present invention;

[0037] Figure 6 This is a structural characteristic diagram of the folding surface of the folding mechanism of the present invention;

[0038] Figure 7 This is a schematic diagram of a modular design implementation method for the wing folding mechanism of the present invention;

[0039] Among them, the names corresponding to the marks in the accompanying drawings are: A-inner wing, A1-inner wing front beam, A2-inner wing rear beam, B-outer wing, B1-outer wing front beam, B2-outer wing rear beam, 1-folding rotation and locking module, 1.1-front fixed joint, 1.2-front rotating joint, 1.3-rear fixed joint, 1.4-rear rotating joint, 1.5-rotating shaft, 1.6-sleeve, 1.7-torsion spring, 1.8-front locking pin, 1.9-front compression spring, 1.10-front locking pin mounting block, 1.11-rear locking pin, 1.12-rear compression spring, 1.13-rear locking pin limit block, 1.14-threaded fastener, 2.1-inner mounting rib, 2.2-outer mounting rib, 2.3-leading edge conformal cover, 2.4-inner rib conformal cover, 2.5-outer rib conformal cover, 2.6-trailing edge conformal cover. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0043] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like indicate positions or locations based on the positions shown in the accompanying drawings, or the positions or locations in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0044] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0045] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and connections within two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0046] Example 1:

[0047] The present invention application provides a fixed-wing UAV folding wing for box-type launch, which can realize the wing folding operation of a single person on the ground, the automatic unfolding of the wings after the UAV is launched, and the automatic locking of the wings after unfolding to the position to prevent the wings from rebounding or vibrating. The wing folding mechanism designed by the present invention has sufficient aerodynamic conformal function and can fully reduce the aerodynamic loss of the wing folding section. The present invention provides a modular design implementation scheme for the wing folding mechanism to complete the assembly of the wing folding mechanism and the connection and installation with the inner wing and the outer wing. The inner wing and the outer wing are closed at one time in the wing closing mold after the tooling locates the installation interface of the inner and outer wings.

[0048] like Figure 1 As shown, this embodiment provides a fixed-wing UAV folding wing for box-type launch, which includes a folding and rotating module and a locking module 1, an installation connection and aerodynamic conformal module 2 and other modules. It can realize the wing folding operation of a single person on the ground, the automatic unfolding of the wings after the UAV is launched, and the automatic locking of the wings after unfolding to the position to prevent the wings from rebounding or vibrating.

[0049] like Figure 2As shown, the folding, rotating and locking module 1 is composed of a torsion spring 1.7, a sleeve 1.6, a rotating shaft 1.5, a front fixed joint 1.1, a front rotating joint 1.2, a rear fixed joint 1.3, a rear rotating joint 1.4, a front locking pin 1.8, a front compression spring 1.9, a front locking pin mounting block 1.10, a rear locking pin 1.11, a rear compression spring 1.12, a rear locking pin mounting block 1.13, etc. The rotating shaft 1.5 is respectively connected and fastened to the front fixed joint 1.1 and the rear fixed joint 1.3 by a threaded fastener 1.14. When the wing folds, the torsion spring 1.7 generates torque and is constrained by the limiting structure of the launch device. After launch, the wing is released from the constraint, and the torque of the torsion spring 1.7 and the aerodynamic lift of the outer wing jointly drive the wing to complete automatic deployment. The torque size is determined by the load condition of the wing and the folding wing index; as shown in FIG. Figure 7 As shown, the above-mentioned front lock pin 1.8 passes through the front fixed joint 1.1 and the front rotating joint 1.2, the front compression spring 1.9 passes through the tail rod section of the front lock pin 1.8 and is installed in the slide groove of the front lock pin mounting block 1.10, and the front lock pin mounting block 1.10 is connected to the front fixed joint 1.1 through a threaded fastener 1.14. The installation structure and principle of the rear lock pin 1.11, rear compression spring 1.12, and rear lock pin mounting block 1.13 are consistent with those of the front lock pin. During the folding action, the locking pin is pulled back and the compression spring generates pressure. After the wing is unfolded, the compression spring drives the locking pin to pass through the circular hole of the fixed joint and press into the tapered hole of the rotating joint to lock the wing in the unfolded state; the above-mentioned installation connection and aerodynamic conformal module consists of inner mounting ribs 2.1, outer mounting ribs 2.2, leading edge conformal cover 2.3, inner rib conformal cover 2.4, outer rib conformal cover 2.5, trailing edge conformal cover 2.6, etc., which serve as the basic installation and connection mechanism of the wing folding mechanism, and maintain the integrity of the aerodynamic shape of the wing in the folding mechanism section.

[0050] The folding wing is divided into two sections, inner and outer, along the wingspan direction, and specifically includes an inner wing, an outer wing, and a wing-folding mechanism. The inner and outer wings are connected by the wing-folding mechanism. The wing-folding mechanism adopts a modular structural design. The wing-folding mechanism, as a total module, is connected to the inner and outer wings respectively through joints and slots and locked with fasteners.

[0051] The folding rotation axis and folding separation surface of the wing folding mechanism adopt an offset design. The folding separation surface includes a cylindrical surface coaxial with the folding rotation axis and a plane perpendicular to the wingspan direction, and the plane is tangent to the cylindrical surface; the wing folding mechanism includes a fixed joint, a rotating joint, an inner mounting rib, and an outer mounting rib. The fixed joint, the rotating joint, the inner mounting rib, and the outer mounting rib all have the structural characteristics of the folding separation surface. The rotating joint and the outer mounting rib rotate with the rotating shaft as the center axis, and their folding separation surfaces coincide with the fixed joint and the inner mounting rib when unfolded.

[0052] The wing folding mechanism includes a folding, rotating and locking module, an installation connection and a pneumatic conformal module; wherein, the folding, rotating and locking module includes a torque generating element, a sleeve, a rotating shaft, a front fixed joint, a front rotating joint, a rear fixed joint, a rear rotating joint, and a locking pin assembly, wherein the fixed joint and the rotating joint are arranged in pairs, and are named according to the front and back of the flight direction, the front fixed joint is connected to the front beam of the inner wing, and the rear fixed joint is connected to the rear beam of the inner wing; the rotating joint is connected to one side of the outer wing, and is used to drive the outer wing to fold and unfold, the front rotating joint is connected to the front beam of the outer wing, and the rear rotating joint is connected to the rear beam of the outer wing, and is fastened with fasteners and conformal nuts, and both ends of the rotating shaft are fastened with fasteners to the front fixed joint and the rear fixed joint.

[0053] The mounting connection and pneumatic conformal module includes an inner mounting rib, an outer mounting rib, conformal covers and a conformal nut, etc. One end of the aforementioned torque generating element is connected to the inner mounting rib, and the other end is connected to the outer mounting rib to transmit torque;

[0054] The torque generating element includes a sleeve, which is coaxially connected to the rotating shaft and then mounted on the rotating shaft. The two ends of the torsion spring are respectively connected to the inner mounting rib and the outer mounting rib; the pressure generating element includes two front and rear compression springs, which correspond one-to-one to the locking pin. The compression spring is installed on the outside of the locking pin and is installed on the locking pin mounting block.

[0055] like Figure 3 As shown, the wing-folding mechanism includes a locking pin assembly, which is installed on the side of the fixed joint that is connected to the inner wing mounting rib, and a slot is cut at the corresponding position of the inner wing mounting rib to leave space for its installation. The locking pin assembly is used to lock the outer wing in its unfolded state after it is automatically unfolded. The locking pin assembly is divided into two groups, front and rear, each consisting of a locking pin, a locking pin mounting block, and a pressure generating element. The locking pin assembly corresponds to the front fixed joint and the rear fixed joint one-to-one. The locking pin is installed on the outside of the fixed joint and passes through the corresponding fixed joint and the rotating joint. The pressure generating element passes through the lock pin tail rod section and is installed in the slide groove of the lock pin mounting block. The lock pin mounting block is connected to the corresponding fixed joint via a threaded fastener. The locking pin assembly adopts a clearance fit with the limiting hole of the fixed joint and a tapered guide fit with the rotating joint.

[0056] The torque generating element generates torque and is constrained by the limiting structure of the launch device. After launch, the wing is released from the constraint, and the torque generating element and the aerodynamic lift of the outer wing drive the wing to complete automatic deployment. The torque size is determined by the wing load condition and the folding wing index.

[0057] Example 2:

[0058] Based on the folding wings of the fixed-wing UAV for box-type launch provided in Example 1, the present application also provides a method for unlocking and folding the wings thereof, which comprises the following steps:

[0059] Before the drone takes off, the wings are manually folded and loaded into the launch device. The specific steps include:

[0060] S1.1, manually push back the front locking pin to release the front locking structure from locking the front rotating joint;

[0061] S1.2, manually push back the rear lock pin to release the rear locking structure from locking the rear swivel joint;

[0062] S1.3, an external force overcomes the torque of the torsion spring, causing the outer mounting rib to rotate relative to the inner mounting rib. The angle of rotation is determined by the wing folding angle. The wing folding state is constrained by the limit structure of the UAV launch device.

[0063] After the drone takes off and detaches from the launcher, the launcher releases the constraints on the wings, and the wings automatically unfold and lock in the unfolded state. The specific steps include:

[0064] S2.1, the external mounting ribs automatically deploy under the combined action of the torsion spring torque and the aerodynamic lift of the outer wing;

[0065] S2.2, after the wings are unfolded to the straight position, the front locking pin is pressed into the tapered hole of the front rotating joint under the pressure of the front compression spring, and the rear locking pin is pressed into the tapered hole of the rear rotating joint under the pressure of the compression spring, thereby automatically locking the wings in the unfolded position.

[0066] The folding, automatic unfolding and locking process of the wing folding mechanism is as follows:

[0067] 1) Wing folding mechanism unlocking and folding working process:

[0068] like Figure 4 As shown, before the drone takes off, the wings are manually folded and loaded into the launch device. The specific steps include:

[0069] (1) Manually push back the front locking pin 1.8 to release the front locking structure from locking the front rotating joint 1.2;

[0070] (2) Manually push back the rear lock pin 1.11 to release the rear locking structure from locking the rear rotary joint 1.4;

[0071] (3) The external force overcomes the torque of the torsion spring 1.7, causing the outer mounting rib 2.2 to rotate relative to the inner mounting rib 2.1. The angle of rotation is determined by the folding angle of the UAV. The folded state of the wings is constrained by the limit structure of the UAV launch device.

[0072] 2) The wing folding mechanism automatically unfolds and locks during operation:

[0073] like Figure 5As shown, after the drone takes off, it detaches from the launch device, the launch device releases the constraints on the wings, and the wings automatically unfold and lock. The specific steps include:

[0074] (1) The outer mounting rib 2.2 automatically deploys under the combined action of the torque of the torsion spring 1.7 and the aerodynamic lift of the outer wing;

[0075] (2) After the wings are unfolded to the straight state, the front locking pin 1.8 is pressed into the tapered hole of the front rotating joint 1.2 under the pressure of the front compression spring 1.9, and the rear locking pin 1.11 is pressed into the tapered hole of the rear rotating joint 1.4 under the pressure of the compression spring 1.12, thereby achieving automatic locking of the wings in the unfolded state.

[0076] like Figure 6 As shown, the aforementioned wing folding mechanism adopts an offset design scheme for its folding rotation axis and folding separation surface. The folding separation surface is composed of a cylindrical surface and a plane. The axis of the cylindrical surface coincides with the folding rotation axis and is tangent to the plane to ensure that the folding surface structure is compact and the aerodynamic shape is complete.

[0077] like Figure 3 As shown, the aforementioned wing folding mechanism is connected to the inner wing front beam A1 by a front fixed joint 1.1, and to the inner wing rear beam A2 by a rear fixed joint 1.3. It is connected to the outer wing front beam B1 by a front rotating joint 1.2, and to the outer wing rear beam B2 by a rear rotating joint 1.4. The force transmission route of the entire folding wing is: outer wing beam B1 / B2 → rotating joint → rotating shaft 1.5 (and locking pin) → fixed joint → inner wing beam A1 / A2 → fuselage, which has the advantages of short force transmission route, direct force transmission, good structural strength, and light weight. The aforementioned front locking pin 1.8 passes through the front fixed joint 1.1 and directly acts on the front rotating joint 1.2, and the rear locking pin 1.11 passes through the rear fixed joint 1.1. Head 1.3 acts directly on the rear rotating joint 1.4, eliminating any other force transmission path, improving the reliability of the locking structure. Locking pins 1.8 / 1.11 utilize clearance fits with the stop holes of fixed joints 1.1 / 1.3 and tapered guides with rotating joints 1.2 / 1.4, enhancing the compactness of the locking structure and eliminating vibration issues when folding the wings. The aforementioned rear locking pin mounting block 1.13 is connected to the rear fixed joint 1.3 via threaded fasteners 1.14. The rear locking pin mounting block 1.13 utilizes a hook-shaped structure to lock the inner mounting rib 2.1 with the rear fixed joint 1.3 along the folding axis, significantly improving the strength and reliability of the folding mechanism.

[0078] like Figure 7 As shown, the aforementioned wing folding mechanism adopts a modular design implementation method:

[0079] (Z1) First complete the independent assembly and functional debugging of the folding, rotating and locking module 1;

[0080] (Z2) Position and install the folding, rotating and locking module 1 at the corresponding position through the slot structure of the inner mounting rib 2.1 and the outer mounting rib 2.2 and lock it with threaded fasteners;

[0081] (Z3) Install each conformal cover 2.3 to 2.6 and tighten with threaded fasteners to complete the overall assembly of the wing folding mechanism;

[0082] (Z4) The wing-folding mechanism, as a master module, is connected to the inner wing A and outer wing B via connectors and slots and secured with fasteners J. This modular design improves the mechanism's assembly processability, making it easy to disassemble and assemble, and maintain. The inner wing A and outer wing B are folded together in one go after the tooling locates the mounting interfaces of the inner wing A and outer wing B in the wing folding mold.

[0083] The aforementioned wing-folding mechanism can be added to a given wing structure. Installing the mechanism at a suitable position on the wing enables the wing to be folded, automatically unfolded, and locked. Similarly, it can also be applied to the folding of the tail through a simple transformation.

[0084] This invention provides a method for folding and unlocking wings of a fixed-wing UAV for box-launching. While there are numerous methods and approaches for implementing this technical solution, the foregoing is merely a preferred embodiment of the invention. It should be noted that those skilled in the art could make numerous improvements and modifications without departing from the principles of the invention, and such improvements and modifications should be considered within the scope of protection of this invention. Any components not specified in this embodiment may be implemented using existing technologies.

Claims

1. A fixed-wing UAV with folding wings for box-type launch, characterized in that: The folding wing is divided into two sections, inner and outer, along the wingspan direction, and specifically includes an inner wing, an outer wing, and a wing folding mechanism, wherein the inner and outer wings are connected by the wing folding mechanism; wherein the wing folding mechanism adopts a modular structural design, and the wing folding mechanism, as a total module, is connected to the inner and outer wings respectively through joints and slots and is locked with fasteners; The folding rotation axis and folding separation surface of the wing-folding mechanism are offset. The folding separation surface includes a cylindrical surface coaxial with the folding rotation axis and a plane perpendicular to the wingspan, with the plane being tangent to the cylindrical surface. The wing-folding mechanism includes a fixed joint, a rotating joint, an inner mounting rib, and an outer mounting rib. The fixed joint, rotating joint, inner mounting rib, and outer mounting rib all have the structural characteristics of the folding separation surface. The rotating joint and outer mounting rib rotate about the rotating shaft, and their folding separation surfaces coincide with the fixed joint and inner mounting rib when unfolded. The wing folding mechanism comprises a folding rotation and locking module, a mounting connection and aerodynamic conformal module, and the wing folding mechanism further comprises a locking pin assembly; The mounting connection and pneumatic conformal module includes an inner mounting rib, an outer mounting rib, conformal covers, and a conformal nut. The folding, rotating, and locking module includes a torque generating element. One end of the torque generating element is connected to the inner mounting rib, and the other end is connected to the outer mounting rib to transmit torque. The torque generating element includes a sleeve, which is coaxially connected to the rotating shaft and sleeved on the rotating shaft, and the two ends of the torsion spring are respectively connected to the inner mounting rib and the outer mounting rib; the wing folding mechanism includes a pressure generating element, and the pressure generating element includes two front and rear compression springs, and the compression springs correspond to the lock pins one by one, and the compression springs are installed on the outside of the lock pin, and the compression springs are installed on the lock pin mounting block; The locking pin assembly is clearance-fitted with the limiting hole of the fixed joint and is tapered-guide-fitted with the rotating joint.

2. The fixed-wing UAV folding wings for box-type launch according to claim 1, characterized in that: The folding, rotating and locking module also includes a front fixed joint, a front rotating joint, a rear fixed joint, a rear rotating joint, and a locking pin assembly. The fixed joint and the rotating joint are arranged in pairs, and are named according to the front and back of the flight direction. The front fixed joint is connected to the front beam of the inner wing, and the rear fixed joint is connected to the rear beam of the inner wing; the rotating joint is connected to one side of the outer wing, and is used to drive the outer wing to fold and unfold. The front rotating joint is connected to the front beam of the outer wing, and the rear rotating joint is connected to the rear beam of the outer wing, and is fastened with fasteners and conformal nuts. The two ends of the rotating shaft are fastened to the front fixed joint and the rear fixed joint with fasteners.

3. The fixed-wing UAV folding wings for box-type launch according to claim 2, characterized in that: The wing folding mechanism includes a locking pin assembly, which is installed on the side of the fixed joint connected to the inner wing mounting rib, and a groove is opened at the corresponding position of the inner wing mounting rib to leave its installation space. The locking pin assembly is used to lock the outer wing in its unfolded state after it is automatically unfolded into place.

4. The fixed-wing UAV folding wings for box-type launch according to claim 3, characterized in that: The lock pin assembly is divided into two groups, front and rear, each consisting of a lock pin, a lock pin mounting block, and a pressure generating element. The lock pin assembly corresponds to the front fixed joint and the rear fixed joint one by one. The lock pin is installed on the outside of the fixed joint and passes through the corresponding fixed joint and the rotating joint. The pressure generating element passes through the lock pin tail rod section and is installed in the slide groove of the lock pin mounting block. The lock pin mounting block is connected to the corresponding fixed joint through a threaded fastener.

5. The fixed-wing UAV folding wings for box-type launch according to claim 2, characterized in that: The torque generating element generates torque and is constrained by the limiting structure of the launch device. After launch, the wing is released from the constraint, and the torque generating element and the aerodynamic lift of the outer wing drive the wing to complete automatic deployment. The torque size is determined by the wing load condition and the folding wing index.

6. The method for unlocking and folding the folding wings of a fixed-wing UAV for box-type launch according to claim 1, characterized in that: The folding method comprises: Before the drone takes off, the wings are manually folded and loaded into the launch device. The specific steps include: S1.1, manually push back the front locking pin to release the front locking structure from locking the front rotating joint; S1.2, manually push back the rear lock pin to release the rear locking structure from locking the rear swivel joint; S1.3, an external force overcomes the torque of the torsion spring, causing the outer mounting rib to rotate relative to the inner mounting rib. The angle of rotation is determined by the wing folding angle. The wing folding state is constrained by the limit structure of the UAV launch device. After the drone takes off and detaches from the launcher, the launcher releases the constraints on the wings, and the wings automatically unfold and lock in the unfolded state. The specific steps include: S2.1, the external mounting ribs automatically deploy under the combined action of the torsion spring torque and the aerodynamic lift of the outer wing; S2.2, after the wings are unfolded to the straight position, the front locking pin is pressed into the tapered hole of the front rotating joint under the pressure of the front compression spring, and the rear locking pin is pressed into the tapered hole of the rear rotating joint under the pressure of the compression spring, thereby automatically locking the wings in the unfolded position.

Images