A Synchronous Deployment and Retraction Unmanned Helicopter Folding Tail Rotor and Its Folding Method

Abstract

The present invention relates to a folding tail wing and a folding method for a synchronous unfolding and folding unmanned helicopter, belonging to the technical field of unmanned aerial vehicles, and solving the problems that the tail wing of the unmanned helicopter cannot be folded and is inconvenient for storage and transportation. The present invention includes a left tail assembly, a tail wing fixing unit, a right tail assembly and a power unit; the tail wing fixing unit is installed on the tail beam, and the left tail assembly and the right tail assembly are symmetrically connected to both sides of the tail wing fixing unit in a mirror image; the left tail assembly and the right tail assembly respectively include a horizontal tail unit and a vertical tail unit; one end of the horizontal tail unit is connected to the tail wing fixing unit, and the other end is connected to the vertical tail unit; the power unit includes a driving unit, a horizontal tail rotating unit, a vertical tail rotating unit and a commutation unit; the commutation unit is connected to the horizontal tail unit, the driving unit is connected to one side of the tail wing fixing unit, and two power units are symmetrically arranged. The tail wing unfolding and folding method of the present invention is simple and convenient, the structure is simple, the energy consumption is low, the unfolding and folding speed is fast, the structure is stable after unfolding and folding, and the storage and transportation of the unmanned helicopter are optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a folding tail wing of an unmanned helicopter with synchronous unfolding and folding and a folding method thereof. Background Art

[0002] The tail wing of an unmanned helicopter includes a horizontal tail wing and a vertical tail wing, which can provide aerodynamic force and play an important role in maintaining the attitude stability of the unmanned helicopter. The horizontal tail wing is mainly used to improve the angle-of-attack stability of the unmanned helicopter and enhance the balance, stability and control ability during the pitching process of the unmanned helicopter; the vertical tail wing is mainly used to improve the balance, stability and control ability of the heading of the unmanned helicopter.

[0003] Conventional unmanned helicopters mostly adopt a single-rotor with tail-rotor configuration, and the vertical tail wing is mostly a single-vertical-tail structure, which has a large interference on the tail rotor and affects the flight stability of the unmanned helicopter.

[0004] At present, the overall outline size of industrial-grade unmanned helicopters is relatively large. Some unmanned helicopters adopt an integrally formed tail wing. The unmanned helicopter with a non-foldable tail wing occupies a large space and is inconvenient for storage and transportation; some unmanned helicopter tail wings are detachable and can be stored separately. Although the storage and transportation space is reduced, the disassembly and installation are complex, time-consuming and laborious, making the unmanned helicopter unable to quickly enter the working state. Summary of the Invention

[0005] In view of the above analysis, the present invention aims to provide a folding tail wing of an unmanned helicopter with synchronous unfolding and folding and a folding method thereof to solve the technical problem of the non-foldable tail wing of the unmanned helicopter, which is inconvenient for storage and transportation.

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

[0007] A folding tail wing of an unmanned helicopter with synchronous unfolding and folding includes a left tail assembly, a tail wing fixing unit and a right tail assembly; the tail wing fixing unit is installed on the tail beam, and the left tail assembly and the right tail assembly are symmetrically connected to both sides of the tail wing fixing unit; both the left tail assembly and the right tail assembly include a horizontal tail unit, a vertical tail unit and a power unit; the first end of the horizontal tail unit is connected to the tail wing fixing unit, and the second end of the horizontal tail unit is connected to the vertical tail unit; the power unit is sequentially hinged to the tail wing fixing unit, the horizontal tail unit and the vertical tail unit; the power unit includes a driving unit, a horizontal tail rotating unit and a vertical tail rotating unit arranged in sequence, and the power unit further includes a commutation unit; the driving unit is connected to one side of the tail wing fixing unit, and the commutation unit is connected to the horizontal tail unit.

[0008] Further, the horizontal tail unit includes a left horizontal tail unit and a right horizontal tail unit, the vertical tail unit includes a left vertical tail unit and a right vertical tail unit, and the power unit includes a left power unit and a right power unit.

[0009] Further, the tail fin fixing unit includes a tail fin fixing body, a tail fin fixing body holder, a horizontal tail rotating first hinge, a driving center mounting seat, and a horizontal tail rotating shaft mounting seat.

[0010] Further, the tail fin fixing body holder is connected inside the tail fin fixing body, the driving center mounting seat is connected to the tail fin fixing body holder, the horizontal tail rotating first hinge is connected to the side end of the tail fin fixing body, and the horizontal tail rotating shaft mounting seat is connected to the outer vertical surface of the horizontal tail rotating first hinge.

[0011] Further, the left horizontal tail unit includes a horizontal tail main board, horizontal tail wing plates, a horizontal tail rotating second hinge, a horizontal tail joint unit, a conversion unit mounting seat, a vertical tail rotating first hinge, and a horizontal tail holder.

[0012] Further, the left power unit includes a driving unit, a horizontal tail rotating unit, a vertical tail rotating unit, and a commutation unit arranged in sequence; the driving unit is connected to one side of the tail fin fixing unit, and the commutation unit is connected to the horizontal tail unit.

[0013] Further, the driving unit is a linear servo, and both the horizontal tail rotating unit and the vertical tail rotating unit are hollow cylinder sleeves provided with single-ear connecting parts at both ends.

[0014] Further, the commutation unit is a rocker arm structure with double ears at both ends, and both ends of the rocker arm structure are respectively connected to the first end of the horizontal tail rotating unit and the second end of the vertical tail rotating unit; the two ends of the rocker arm structure of the commutation unit are of unequal length.

[0015] Further, the left vertical tail includes a left vertical tail body and a vertical tail support unit; the vertical tail support unit is installed on the left vertical tail body; the vertical tail support unit includes a vertical tail support body, and a plurality of support feet are provided on the vertical tail support body; vertical tail rotating holes and vertical tail rotation driving holes are provided on the support feet.

[0016] A folding method for a folding tail fin of a synchronized unfolding and folding unmanned helicopter, using the synchronized unfolding and folding tail fin of the unmanned helicopter, the steps are as follows:

[0017] S1. Assemble the folding tail fin of the unmanned helicopter and install the folding tail fin of the unmanned helicopter on the tail beam;

[0018] S2. After the unmanned helicopter issues a folding electrical signal instruction, the driving unit extends a set stroke;

[0019] S3. The horizontal tail assembly generates an upward follow-up rotation around the horizontal tail rotation axis:

[0020] S4. The horizontal tail unit rotates upward around the first pin shaft of the strut;

[0021] S5. The commutation unit converts the rotational motion of the horizontal tail rotation unit into the rotational motion of the vertical tail rotation unit;

[0022] S6. The vertical tail rotation unit pushes the vertical tail unit to rotate around the vertical tail rotation axis through the second pin shaft of the strut;

[0023] S7. When the horizontal tail unit rotates to 90°, the control system issues a locking signal and the power unit locks.

[0024] At this time, the left and right tail components of the folding tail of the unmanned helicopter synchronously complete the retraction and locking of the folding tail, and the folding of the horizontal tail unit and the vertical tail unit is carried out synchronously.

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

[0026] 1. The present invention solves the problems of rapid deployment and retraction and reliable locking of the tail of the unmanned helicopter through a power source and a connecting rod mechanism, and has a simple structure and low energy consumption, meeting the performance requirements of the unmanned aerial vehicle.

[0027] 2. The folding tail of the unmanned helicopter with synchronous deployment and retraction of the present invention is distributed at the rear side of the tail beam. There is a good connection interface between the folding tail and the tail beam, and the connection stiffness is good; at the same time, the shape design of the horizontal and vertical tails can reduce the air resistance during the flight of the unmanned helicopter and provide the optimal aerodynamic force. It is beneficial to improve the flight stability and flight quality of the unmanned helicopter.

[0028] 3. In the folding tail of the unmanned helicopter with synchronous deployment and retraction of the present invention, the folding tails of the horizontal tail unit and the vertical tail unit are distributed at the rear side of the tail beam and symmetrically distributed on the left and right sides of the tail beam, maximizing the balance and stability effects of providing pitch and heading control, and solving the problem that the existing unmanned helicopter vertical tail generally adopts a single vertical tail design, which has a large interference on the tail rotor and poor flight stability of the helicopter.

[0029] 4. The folding tail of the unmanned helicopter with synchronous deployment and retraction of the present invention can realize the automatic synchronous folding, extension and locking of the left and right horizontal tails and the vertical tail without any tools driven by a linear servo. The structure is safe and reliable, the positioning is accurate, the use is flexible, and the operation is convenient, effectively shortening the deployment and retraction time of the unmanned helicopter.

[0030] 5. The folding tail of the unmanned helicopter with synchronous deployment and retraction of the present invention is made of carbon fiber composite material, which is light in weight, easy to process, has excellent mechanical properties, is convenient for simple installation design of the structure, and can minimize the weight.

[0031] 6. After the automatic folding of the folding tail of the unmanned helicopter with synchronous deployment and retraction of the present invention, the overall outline size of the whole machine can be reduced, effectively reducing the storage and transportation space, and improving the storage and transportation efficiency and safety.

[0032] Other features and advantages of the present invention will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present invention. The objectives and other advantages of the present invention may be realized and attained by the matter particularly pointed out in the specification and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings are only for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. Throughout the drawings, the same reference numerals denote the same components.

[0034] Figure 1 It is a state diagram of the folding tail wing of the unmanned helicopter with synchronous deployment and retraction of the present invention when the tail wing is deployed and installed on the tail beam;

[0035] Figure 2 It is a schematic diagram of the overall structure of the folding tail wing of the unmanned helicopter with synchronous deployment and retraction of the present invention;

[0036] Figure 3 It is a schematic diagram of a partial top view structure of the folding tail wing of the unmanned helicopter with synchronous deployment and retraction of the present invention;

[0037] Figure 4 It is Figure 3 the sectional view taken along A-A in

[0038] Figure 5 It is a schematic diagram of the structure of the tail wing fixing unit of the present invention;

[0039] Figure 6 It is Figure 5 a partial structure schematic diagram of

[0040] Figure 7 It is a schematic diagram of the structure of the tail wing fixing body holder of the present invention;

[0041] Figure 8 It is a schematic diagram of the installation structure of the first hinge for the horizontal tail rotation and the horizontal tail rotating shaft mounting seat of the present invention;

[0042] Figure 9 It is a schematic diagram of the overall structure of the left horizontal tail of the present invention Figure 1 ;

[0043] Figure 10 It is a schematic diagram of the overall structure of the left horizontal tail of the present invention Figure 2 ;

[0044] Figure 11 It is a schematic diagram of the structure of the horizontal tail holder of the present invention;

[0045] Figure 12 It is a schematic diagram of the structure of the second hinge for the horizontal tail rotation of the present invention;

[0046] Figure 13Schematic diagram of the horizontal tail joint unit structure of the present invention;

[0047] Figure 14 Schematic diagram of the mounting seat structure of the conversion unit of the present invention;

[0048] Figure 15 Schematic diagram of the first hinge structure for the vertical tail rotation of the present invention;

[0049] Figure 16 Schematic diagram of the installation of the power unit and its connection mechanism of the present invention Figure 1 ;

[0050] Figure 17 Schematic diagram of the installation of the power unit and its connection mechanism of the present invention Figure 2 ;

[0051] Figure 18 Schematic diagram of the commutation unit structure of the present invention;

[0052] Figure 19 Cross-sectional view of the middle plane of the commutation unit of the present invention;

[0053] Figure 20 Schematic diagram of the overall structure of the left vertical tail of the present invention;

[0054] Figure 21 Schematic diagram of the vertical tail support structure of the present invention;

[0055] Figure 22 Schematic diagram of the folded state of the folding tail wing of the unmanned helicopter with synchronous unfolding and folding of the present invention;

[0056] Figure 23 Flowchart of the folding method of the folding tail wing of the unmanned helicopter with synchronous unfolding and folding of the present invention.

[0057] Reference signs:

[0058] 1. Left horizontal tail unit; 11. Horizontal tail main board; 111. Horizontal tail main board mounting hole; 12. Horizontal tail wing board; 13. Second hinge for horizontal tail rotation; 14. Horizontal tail joint unit 141. Horizontal tail joint lifting lug; 15. Mounting seat for conversion unit; 151. Steering pin shaft hole; 152. Steering mounting groove; 153. First locking groove; 154. Second locking groove; 16. First hinge for vertical tail rotation; 17. Horizontal tail holder; 171. Horizontal tail holder mounting groove; 172. Horizontal tail holder mounting hole; 2. Left vertical tail unit; 21. Left vertical tail body; 22. Vertical tail support unit; 221. Vertical tail support body; 222. Driving hole for vertical tail rotation; 223. Rotation hole for vertical tail; 3. Right horizontal tail unit; 4. Right vertical tail unit; 5. Tail wing fixing unit; 51. Tail wing fixing body; 52. Tail wing fixing body holder; 521. Mounting seat groove for driving center; 53. First hinge for horizontal tail rotation; 531. Upper page of the first hinge for horizontal tail rotation; 532. Lower page of the first hinge for horizontal tail rotation; 533. Horizontal tail rotation shaft; 534. First avoidance opening; 54. Mounting seat for driving center; 55. Mounting seat for horizontal tail rotation shaft; 6. Left power unit; 61 Driving unit; 62. Horizontal tail rotation unit; 63. Vertical tail rotation unit; 64. Commutation unit; 641. Commutation center hole; 642. First commutation hole; 643. Second commutation hole; 71. First driving pin shaft; 72. Second driving pin shaft; 73. Horizontal tail rotation shaft; 74. First pin shaft for brace; 75. Vertical pin shaft for brace; 76. Steering pin shaft; 77. Horizontal pin shaft for brace; 78. Second pin shaft for brace; 79. Vertical tail rotation shaft; 100. Tail beam. Detailed implementation mode

[0059] The following will specifically describe the preferred embodiments of the present invention in conjunction with the accompanying drawings. Among them, the accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principle of the present invention, rather than to limit the scope of the present invention.

[0060] The following will be combined with Figures 1 - 23 , and more specifically describe the technical solution of the present invention:

[0061] As Figure 1 shown, the foldable tail wing of the synchronous unfolding and folding unmanned helicopter of the present invention includes a left tail assembly, a tail wing fixing unit 5 and a right tail assembly; the tail wing fixing unit 5 is installed on the tail beam 100, and the left tail assembly and the right tail assembly are mirror-symmetrically connected to the tail wing fixing unit 5 and on both sides. Among them, the upper surface of the tail wing fixing unit 5 is a curved surface, which smoothly connects the surfaces of the left tail assembly and the right tail assembly. The lower surface of the tail wing fixing unit 5 is designed to match the upper surface of the tail beam 100 at this place to achieve a stable connection purpose; both sides of the tail wing fixing unit 5 are connected to match the inner end contours of the left tail assembly and the right tail assembly.

[0062] Figure 2The overall structure of the folding tail wing of the synchronized unfolding and retracting unmanned helicopter of the present invention is shown. Specifically, the left tail assembly and the right tail assembly respectively include a horizontal tail unit, a vertical tail unit and a power unit; the first end of the horizontal tail unit is connected to the tail wing fixing unit 5, and the second end of the horizontal tail unit is connected to the vertical tail unit. The two power units are symmetrically arranged, and respectively include a driving unit 61, a horizontal tail rotating unit 62, a vertical tail rotating unit 63 and a commutation unit 64 arranged in sequence; the driving unit 61 is connected to one side of the tail wing fixing unit 5, and the commutation unit 64 is connected to the horizontal tail unit.

[0063] As Figure 1 and Figure 2 shown, the horizontal tail unit includes a left horizontal tail unit 1 and a right horizontal tail unit 3, and the vertical tail unit includes a left vertical tail unit 2 and a right vertical tail unit 4. Since the folding tail wing of the synchronized unfolding and retracting unmanned helicopter of the present invention has a left-right symmetric structure, the left horizontal tail unit 1 and the right horizontal tail unit 3 are mirror images of each other, and the vertical tail units 2 and the right vertical tail unit 4 are mirror images of each other; the two power units are also mirror images, symmetrically arranged, and the left power unit 6 is sequentially connected to the tail wing fixing unit 5, the left horizontal tail unit 1 and the seat vertical tail unit 2, and the right power unit is sequentially connected to the tail wing fixing unit 5, the right horizontal tail unit 3 and the right vertical tail unit 4.

[0064] Hereinafter, the structures and functional implementations of the tail wing fixing unit 5, the left horizontal tail unit 1, the left vertical tail unit 2 and the left power unit 6 on the left side will be mainly introduced.

[0065] The left side structure of the folding tail wing of the synchronized unfolding and retracting unmanned helicopter is as Figure 3 and Figure 4 shown.

[0066] Specifically, as Figure 5 shown, the tail wing fixing unit 5 includes a tail wing fixing body 51, a tail wing fixing body holder 52, a first horizontal tail rotation hinge 53, a driving center mounting seat 54 and a horizontal tail rotating shaft mounting seat 55.

[0067] As Figure 6 and Figure 7 shown, the tail wing fixing body holder 52 is connected inside the tail wing fixing body 51, the driving center mounting seat 54 is connected to the tail wing fixing body holder 52, the first horizontal tail rotation hinge 53 is connected to the side end of the tail wing fixing body 51, and the horizontal tail rotating shaft mounting seat 55 is connected to the outer vertical surface of the first horizontal tail rotation hinge 53.

[0068] The fin fixing body holder 52 is a folded plate structure, including a driving center mounting seat groove 521, and the driving center mounting seat 54 is connected to the middle of the driving center mounting seat groove 521; a fixing body operation port is centrally arranged on the upper part of the fin fixing body 51, and the driving center mounting seat 54 is located at the center position of the fixing body operation port. The folded plate structure of the fin fixing body holder 52 can obtain effective support for the fin fixing body 51 from the inside through thin-walled parts, and the supporting effect is better than that of the truss structure. It can maintain the overall structural stability of the unmanned helicopter fin in the wing-spread flight state, and plays a supporting role in the flight performance of the unmanned helicopter.

[0069] As Figure 8 , the first horizontal tail rotation hinge 53 includes an integrally formed upper page 531 of the horizontal tail rotation hinge, a horizontal tail rotating shaft 533, and a lower page 532 of the horizontal tail rotation hinge; the shape of the upper page 531 of the first hinge conforms to the upper surface of the fin fixing body 51, the lower page 532 of the horizontal tail rotation hinge is vertically arranged and is parallel and attached to the fin fixing body 51; the horizontal tail rotating shaft 533 is arranged at the turning connection of the upper page 531 of the first hinge and the lower page 532 of the horizontal tail rotation hinge, and includes a plurality of spaced-apart perforated shaft segments, aiming to match and connect the second horizontal tail rotation hinge 13 with the same spaced-apart perforated shaft segments, and at the same time, rotatably connect the horizontal tail rotating shaft 73.

[0070] As Figure 5 shown, the driving center mounting seat 54 is a T-shaped plate, the bottom surface is mounted in the center mounting seat groove 521, and mounting holes are symmetrically arranged on the vertical plate of the T-shaped plate, forming a single-ear mounting structure that can be respectively connected to the driving units at both ends.

[0071] Preferably, the driving center mounting seat 54 is mounted in the exact middle of the center mounting seat groove 521 to facilitate connecting one driving unit symmetrically on the left and right. Specifically, the driving center mounting seat 54 is hinged to the first end of the driving unit through a first driving pin 71.

[0072] Specifically, a first avoidance opening 534 is arranged on the lower page 532 of the first horizontal tail rotation hinge to facilitate the installation and function realization of the driving unit 61.

[0073] Specifically, a horizontal tail rotating shaft mounting seat 55 is also arranged on the lower page 532 of the first horizontal tail rotation hinge. The horizontal tail rotating shaft mounting seat 55 is a double-ear structure with mounting holes, used to connect the horizontal tail rotating unit 62, and at the same time, rotatably connect the first strut pin 74.

[0074] As Figure 9 and Figure 10 shown, the left horizontal tail unit 1 of the present invention includes a horizontal tail main board 11, a horizontal tail wing sub-board 12, a second horizontal tail rotation hinge 13, a horizontal tail joint unit 14, a conversion unit mounting seat 15, a first vertical tail rotation hinge 16, and a horizontal tail holder 17.

[0075] Specifically, the horizontal tail main board 11 and the horizontal tail wing board 12 are connected into a whole by setting connecting pieces therebetween.

[0076] A truss structure is arranged inside the horizontal tail wing board 12 to increase the strength.

[0077] A horizontal tail holder 17 is arranged inside the horizontal tail main board 11. Compared with the truss structure, the horizontal tail holder 17 can improve the overall structural stiffness of the shell structure of the horizontal tail main board 11, which is convenient for the force application device to be arranged thereon. Among them, the horizontal tail rotating second hinge 13 is arranged at the edge of the first end on the upper surface of the horizontal tail main board 11, the horizontal tail joint unit 14 is arranged at the edge of the first end on the lower surface of the horizontal tail main board 11, the vertical tail rotating first hinge 16 is arranged at the edge of the second end on the upper surface of the horizontal tail main board 11, and the conversion unit mounting seat 15 is arranged inside the horizontal tail main board 11. The conversion unit mounting seat 15 is connected to the horizontal tail holder 17.

[0078] Such as Figure 11 , the horizontal tail holder 17 is the same as the tail wing fixed body holder 52, which is a folded plate structure. A horizontal tail holder mounting groove 171 is arranged on the horizontal tail holder 17, and a horizontal tail holder mounting hole 172 is arranged at the bottom of the horizontal tail holder mounting groove 171. The horizontal tail holder mounting groove 171 is arranged in a manner that fits the upper surface of the horizontal tail main board 11.

[0079] The commutation unit 64 is specifically connected inside the horizontal tail holder mounting groove 171 of the horizontal tail holder 17 and is located at the position of the central hole of the horizontal tail holder mounting hole 172. Corresponding to the position of the horizontal tail holder mounting hole 172, a horizontal tail main board mounting hole 111 is arranged on the upper surface of the horizontal tail main board 11. The horizontal tail holder mounting hole 172 and the horizontal tail main board mounting hole 111 coincide to form a space for disassembling the commutation unit 64 externally.

[0080] Figure 12 , Figure 13 and Figure 15 respectively specifically show the specific structures of the horizontal tail rotating second hinge 13, the horizontal tail joint unit 14 and the vertical tail rotating first hinge 16. The joint parts of them with the surface of the horizontal tail main board 11 are all shaped to fit the horizontal tail main board 11. Among them, the horizontal tail rotating second hinge 13 is provided with spaced perforated shaft segments for cooperating with the horizontal tail rotating first hinge 53 and allowing the horizontal tail rotating shaft 73 to pass through.

[0081] Among them, the vertical tail rotating first hinge 16 is provided with spaced perforated shaft segments for cooperating with the horizontal tail rotating first hinge 53 and allowing the horizontal tail rotating shaft 73 to pass through.

[0082] Among them, the horizontal tail rotating second hinge 13 is provided with spaced perforated shaft segments for cooperating with the perforated shaft segments on the vertical tail support unit 22 and allowing the vertical tail rotating shaft 79 to pass through.

[0083] Among them, a pair of horizontal tail joint lugs 141 are further arranged on the horizontal tail joint unit 14, and a through-hole structure is arranged on the horizontal tail joint lugs 141. The single-ear structure at the first end of the horizontal tail rotation unit 62 is inserted into a pair of horizontal tail joint lugs 141 and is hinged through the first strut pin 74.

[0084] As Figure 14 shown, the conversion unit mounting seat 15 includes a steering pin hole 151, a steering mounting groove 152, a first locking groove 153, and a second locking groove 154.

[0085] Specifically, the conversion unit mounting seat 15 is an overall trough frame structure with openings on both sides. The vertical surface of the trough frame is used to connect the horizontal tail cage 17, and the trough bottom is located in the horizontal tail cage mounting groove 171. Three parallel openings are opened at the trough bottom and communicate with the horizontal tail cage mounting groove 171. On the openings on both sides in the trough, two shells are respectively arranged to form the first locking groove 153 and the second locking groove 154 of the open shell structure, which are used for the operation space of disassembling and installing the commutation unit 64. The space between the opposite vertical surfaces of the two shells is exactly located at the middle trough opening. Define this space open on both sides as the steering mounting groove 152, and the commutation unit 64 is installed here; through holes are opened on the opposite vertical surfaces of the two shells, and define this through hole as the steering pin hole 151, which is used to hinge the commutation unit 64 through the steering pin 76.

[0086] In the folding tail of the synchronized unfolding and retracting unmanned helicopter of the present invention, the left tail assembly and the right tail assembly respectively include a horizontal tail unit and a vertical tail unit; the first end of the horizontal tail unit is connected to the tail wing fixing unit 5, and the second end of the horizontal tail unit is connected to the vertical tail unit;

[0087] Figure 16 And Figure 17 shows the overall structure of the left power unit 6. The left power unit 6 includes a driving unit 61, a horizontal tail rotation unit 62, a vertical tail rotation unit 63, and a commutation unit 64 arranged in sequence; the driving unit 61 is connected to one side of the tail wing fixing unit 5, and the commutation unit 64 is connected to the horizontal tail unit.

[0088] As Figure 4 And Figure 16 shown, preferably, the driving unit 61 in this embodiment is a linear servo. The first end of the driving unit 61 is provided with a double-ear connection end, and the second end is provided with a single-ear connection end. The double-ear connection end of the driving unit 61 is hinged to the single-ear connection part on the left side of the driving center mounting seat 54 through the first driving pin 71, specifically hinged at the connection hole on the left side of the driving center mounting seat 54. The single-ear connection end of the driving unit 61 is hinged to the horizontal tail joint unit 14 of the horizontal tail joint lug 141 with double ears through the second driving pin 72.

[0089] As Figure 18 And Figure 19As shown, the commutation unit 64 is a rocker arm structure with double ears at both ends. A commutation center hole 641 is provided in the center, and through holes are respectively provided in the double ears at both ends, specifically a first commutation hole 642 and a second commutation hole 643. The commutation unit 62 is arranged in the steering installation groove 152. The commutation unit 64 is hinged to the conversion unit mounting seat 15 by a steering pin shaft 76 passing through the commutation center hole 641 and the steering pin shaft hole 151.

[0090] Preferably, the commutation center hole 641 is arranged with unequal lengths on the rocker arm structure of the commutation unit 64. Specifically in this embodiment, the distance from the commutation center hole 641 to the second commutation hole 643 is less than the distance to the first commutation hole 642. When the commutation unit 64 rotates by a certain angle, the rotation angle of the left horizontal tail unit 1 is greater than the rotation angle of the left vertical tail unit 2. So that when the left horizontal tail unit 1 rotates 90° to a position perpendicular to the fuselage, the rotation angle of the left vertical tail unit 2 is less than 90°, and it does not overlap with the left horizontal tail unit 1, as Figure 22 shown, thus preventing possible collisions between the two during storage and transportation.

[0091] As Figure 18 and Figure 19 shown, the horizontal tail rotation unit 62 and the vertical tail rotation unit 63 are strut structures with connecting ears at both ends.

[0092] Preferably, both ends of the horizontal tail rotation unit 62 are single-ear connection parts. The first end of the horizontal tail rotation unit 62 is hinged to the horizontal tail rotation shaft mounting seat 55 of the tail wing fixing unit 5 through a first strut pin shaft 74. The second end of the horizontal tail rotation unit 62 is hinged to the first commutation hole 642 at the first end of the commutation unit 64 through a strut flat pin shaft 77. The first end of the vertical tail rotation unit 63 is hinged to the second commutation hole 643 at the second end of the commutation unit 64 through a strut vertical pin shaft 75. The second end of the vertical tail rotation unit 63 is hinged to the vertical tail rotation 222 of the vertical tail support unit 22 through a second strut pin shaft 78.

[0093] Preferably, in this embodiment, the main structures of the horizontal tail rotation unit 62 and the vertical tail rotation unit 63 are hollow cylinder sleeves, aiming to effectively reduce weight and lighten the overall weight of the unmanned helicopter.

[0094] As Figure 20 shown, the main structure of the left vertical tail unit 2 is a left vertical tail body 21, which is a structure of a shell plus a truss.

[0095] As Figure 21As shown in the figure, a vertical tail support unit 22 is mounted on one surface of the vertical tail body 21. The vertical tail support unit 22 includes a plate-shaped vertical tail support body 221, and a plurality of leg structures are arranged on the vertical tail support body 221. Each leg is provided with a rotating double ear, and a through vertical tail rotating hole 223 is arranged on the rotating double ear, which is used to hinge the vertical tail rotating first hinge 16 and the vertical tail support unit 22 through the vertical tail rotating shaft 79.

[0096] One of the legs is further provided with a driving double ear, and a through vertical tail rotating driving hole 222 is arranged on the driving double ear, which is used to hinge the vertical tail rotating unit 63 and the vertical tail support unit 22 through the strut second pin shaft 78 to drive or limit the rotation of the left vertical tail unit 2.

[0097] The vertical tail body 21 rotates with the rotation of the horizontal tail main board 11, or is locked when rotating.

[0098] In the present invention, the structures and positions of the right tail assembly and the left tail assembly on the right side of the folding tail wing of the synchronized unfolding and folding unmanned helicopter are mirror-symmetrical with respect to the central plane of the unmanned helicopter. In the right tail assembly, the double ear at the first end of the driving unit in the left power unit is connected to the connection hole on the right side of the driving center mounting seat 54.

[0099] The parts of the power units of the horizontal tail unit and the vertical tail unit are made of wear-resistant stainless steel material, and through strength optimization design, the weight is saved to the greatest extent.

[0100] In the folding tail wing of the synchronized unfolding and folding unmanned helicopter of the present invention, the skins and internal supports of the left tail assembly, the right tail assembly and the tail wing fixing unit are all made of carbon fiber composite materials, which are light in weight, easy to process, have excellent mechanical properties, are convenient for processing, have a simple structure, and can minimize the weight.

[0101] The folding principle and specific process of the folding tail wing of the synchronized unfolding and folding unmanned helicopter of the present invention are only taken the left tail unit as an example, and the position relationship of up, down, left and right is defined with the nose of the horizontally placed unmanned helicopter facing forward. Figure 23 The folding method of the folding tail wing of the synchronized unfolding and folding unmanned helicopter of the present invention is shown, and the specific steps are as follows:

[0102] S1. Assemble the folding tail wing of the unmanned helicopter and install the folding tail wing of the unmanned helicopter on the tail beam 100;

[0103] S2. After the unmanned helicopter issues a folding electrical signal instruction, the driving unit 61 extends a set stroke;

[0104] As the linear servo of the driving unit 61 starts, the output shaft generates a set displacement from the tail wing fixing unit 5 towards the left vertical tail unit 2;

[0105] S3. The left horizontal tail unit 1 rotates upwards followingly around the horizontal tail rotating shaft 73;

[0106] The rotational movement of the left horizontal tail unit 1 is synchronized with the horizontal displacement of the drive unit 61;

[0107] S4. The horizontal tail unit 62 rotates upward around the first pin shaft 74 of the support rod;

[0108] The horizontal tail rotating unit 62 moves synchronously with the left horizontal tail unit 1, moves from the horizontal to the vertical direction, and gradually approaches the tail fin fixing unit 5; at the same time, the second end of the horizontal tail rotating unit pushes the reversing unit 64 to rotate;

[0109] S5. The reversing unit 64 converts the rotational movement of the horizontal tail rotating unit 62 into the rotational movement of the vertical tail rotating unit 63:

[0110] The horizontal tail rotating unit 62 is hinged to the reversing unit 64 through the support rod horizontal pin shaft 77, thereby pushing the reversing unit 64 to rotate; the reversing unit 64 is hinged to the vertical tail rotating unit 63 through the support rod vertical pin shaft 75, thereby driving the vertical tail rotating unit 63 to generate rotation and displacement.

[0111] Through the design of unequal-length rocker arms of the reversing unit 64, specifically, the rocker arm at the end of the horizontal tail rotating unit 62 is smaller than the rocker arm at the end of the vertical tail rotating unit 63, so that the rotation speed of the left horizontal tail unit 1 is greater than the rotation speed of the vertical tail unit 2. Thus, when the left horizontal tail unit 1 rotates to 90°, the vertical tail unit 2 rotates less than 90°, and the two are arranged at an angle less than 90° in the folded state, while protecting the vertical tail unit 2 and the left horizontal tail unit 1 from colliding during storage and transportation, and minimizing the storage volume of the unmanned helicopter as much as possible.

[0112] S6. The vertical tail rotating unit 63 pushes the vertical tail unit 2 to rotate around the vertical tail rotation shaft 79 through the second pin shaft 78 of the support rod.

[0113] S7. When the left horizontal tail unit 1 rotates to 90°, the control system issues a locking signal and locks the left power unit:

[0114] When the drive unit 61 extends to the set stroke, the control system receives the feedback signal that the tail fin is folded in place, locks the linear servo in the drive unit 61 in place, and completes the retraction and locking of the folding tail fin.

[0115] The folding of the right tail assembly is synchronized with the folding of the left tail assembly.

[0116] The unfolding step of the synchronously deploying and retracting folding tail fin of the unmanned helicopter of the present invention is to, through one-key operation, command the linear servo of the drive unit 61 that has been extended to retract a predetermined displacement amount, and other parts of the left power unit follow, until the left horizontal tail unit of the unmanned helicopter in the folded state rotates to the horizontal, and at the same time the left vertical tail assembly rotates to the vertical.

[0117] The folding of the right tail assembly is synchronized with the unfolding of the left tail assembly.

[0118] The folding method of the folding tail wing of the synchronized unfolding and retracting unmanned helicopter of the present invention can complete the retraction and locking of the folding tail wing through one-key operation of the control system, which is convenient and flexible to use.

[0119] 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 outside the technical scope disclosed by the present invention should be covered outside 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 the method invention.

Claims

1. A folding tail wing for a synchronous unfolding and folding unmanned helicopter, characterized in that, it includes a left tail component, a tail wing fixing unit (5) and a right tail component; the tail wing fixing unit (5) is installed on the tail beam (100), and the left tail component and the right tail component are symmetrically connected to both sides of the tail wing fixing unit (5) in a mirror image; both the left tail component and the right tail component include a horizontal tail unit, a vertical tail unit and a power unit; the first end of the horizontal tail unit is connected to the tail wing fixing unit (5), and the second end of the horizontal tail unit is connected to the vertical tail unit; the power unit is sequentially hinged to the tail wing fixing unit (5), the horizontal tail unit and the vertical tail unit; the power unit includes a driving unit (61), a horizontal tail rotating unit (62) and a vertical tail rotating unit (63) arranged in sequence, and the power unit further includes a commutation unit (64); one end of the driving unit (61) is connected to one side of the tail wing fixing unit (5), and the other end of the driving unit (61) is hinged to the horizontal tail unit; the first end of the horizontal tail rotating unit (62) is hinged to the tail wing fixing unit (5), and the second end of the horizontal tail rotating unit (62) is hinged to the first end of the commutation unit (64); the commutation unit (64) is connected to the horizontal tail unit; the commutation unit (64) is a rocker arm structure, the second end of the commutation unit (64) is hinged to the first end of the vertical tail rotating unit (63), and the second end of the vertical tail rotating unit (63) is hinged to the vertical tail unit; under the action of the driving unit (61), the left tail component and the right tail component synchronously complete the retraction and locking of the folding tail wing, and the folding of the horizontal tail unit and the vertical tail unit is carried out synchronously.

2. The folding tail wing for a synchronous unfolding and folding unmanned helicopter according to claim 1, characterized in that, the horizontal tail unit includes a left horizontal tail unit (1) and a right horizontal tail unit (3), the vertical tail unit includes a left vertical tail unit (2) and a right vertical tail unit (4), and the power unit includes a left power unit (6) and a right power unit.

3. The folding tail wing for a synchronous unfolding and folding unmanned helicopter according to claim 2, characterized in that, the tail wing fixing unit (5) includes a tail wing fixing body (51), a tail wing fixing body holder (52), a first horizontal tail rotation hinge (53), a driving center mounting seat (54) and a horizontal tail rotating shaft mounting seat (55).

4. The folding tail wing for a synchronous unfolding and folding unmanned helicopter according to claim 3, characterized in that, the tail wing fixing body holder (52) is connected inside the tail wing fixing body (51), the driving center mounting seat (54) is connected to the tail wing fixing body holder (52), the first horizontal tail rotation hinge (53) is connected to the side end of the tail wing fixing body (51), and the horizontal tail rotating shaft mounting seat (55) is connected to the outer vertical surface of the first horizontal tail rotation hinge (53).

5. The folding tail wing for a synchronous unfolding and folding unmanned helicopter according to claim 4, characterized in that, The left horizontal tail unit (1) includes a horizontal tail main board (11), horizontal tail wing boards (12), a second hinge for horizontal tail rotation (13), a horizontal tail joint unit (14), a conversion unit mounting base (15), a first hinge for vertical tail rotation (16), and a horizontal tail retainer (17).

6. The folding tail wing of a synchronized unfolding and folding unmanned helicopter according to claim 5, characterized in that the drive unit (61) is a linear servo.

7. The folding tail wing of a synchronized unfolding and folding unmanned helicopter according to claim 6, characterized in that the two ends of the rocker arm structure of the commutation unit (64) are of unequal length.

8. The folding tail wing of a synchronized unfolding and folding unmanned helicopter according to claim 7, characterized in that the left vertical tail unit (2) includes a left vertical tail body (21) and a vertical tail support unit (22); the vertical tail support unit (22) is mounted on the left vertical tail body (21).

9. A folding method for the folding tail wing of a synchronized unfolding and folding unmanned helicopter, characterized in that using the folding tail wing of a synchronized unfolding and folding unmanned helicopter according to any one of claims 1-8, the steps are as follows: S1. Assemble the folding tail wing of the unmanned helicopter and install the folding tail wing of the unmanned helicopter on the tail beam (100); S2. After the unmanned helicopter issues a folding electrical signal command, the drive unit (61) extends a set stroke; S3. The horizontal tail assembly generates an upward follow-up rotation around the horizontal tail rotation axis (73): S4. The horizontal tail rotation unit (62) rotates upward around the first pin shaft of the support rod (74); S5. The commutation unit (64) converts the rotational motion of the horizontal tail rotation unit (62) into the rotational motion of the vertical tail rotation unit (63); S6. The vertical tail rotation unit (63) pushes the vertical tail unit to rotate around the vertical tail rotation axis (79) through the second pin shaft of the support rod (78); S7. When the horizontal tail unit rotates to 90°, the control system issues a locking signal and the power unit is locked; The left tail assembly and the right tail assembly of the folding tail wing of the unmanned helicopter synchronously complete the retraction and locking of the folding tail wing.

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