A wing folding and unfolding mechanism suitable for a vertical take-off and landing aircraft

Abstract

The application discloses a wing folding and unfolding mechanism suitable for a vertical take-off and landing aircraft, which comprises an X-shaped lifting component, a cylindrical key, a connecting rod, a screw rod, a rotary driving motor, a base connecting component and a curved connecting rod; the X-shaped lifting component is in screw cooperation with the screw rod, and rotation of the screw rod can drive the X-shaped lifting component to move horizontally; four recesses are symmetrically arranged on the X-shaped lifting component and are in coaxial cooperation with the four curved connecting rods through the cylindrical key and can relatively rotate; the curved connecting rod is provided with a through hole and is in coaxial cooperation with the connecting rod through the cylindrical key and can relatively rotate; the connecting rod is provided with the same holes at two ends and is in coaxial cooperation with the curved connecting rod and the base connecting component through the cylindrical key and can relatively rotate; and the base connecting component is fixedly connected to the aircraft body.

Description

Technical Field

[0001] This invention relates to a folding wing deployment mechanism for variant unmanned aerial vehicles, and more particularly to a wing deployment mechanism suitable for vertical take-off and landing aircraft. Background Technology

[0002] In recent years, with continuous technological advancements, research on unmanned aerial vehicles (UAVs) in various fields has deepened. Among these, hybrid-wing aircraft, combining the long endurance advantages of fixed-wing aircraft with the vertical takeoff and landing (VTOL) advantages of rotary-wing aircraft, have become a research focus. A VTOL variant UAV is a type of UAV that achieves power reversal through wing folding and attitude changes, with the wing folding mechanism being a crucial component. Existing folding mechanisms often suffer from drawbacks such as unreliable locking after deployment, complex structure, large size, and limited load-bearing capacity. Summary of the Invention

[0003] Purpose of the invention: The present invention aims to provide a short-stroke, high-load, and self-locking wing folding mechanism suitable for vertical take-off and landing aircraft.

[0004] Technical solution: The wing folding mechanism of the present invention, applicable to vertical takeoff and landing aircraft, includes a fuselage shell, rudder, rotor, wing, and folding actuator; the wing includes spars and ribs;

[0005] The folding and unfolding actuator includes a cylindrical key, an X-shaped lifting component, a connecting rod, a screw, a rotary drive motor, a base connecting component, and a bending connecting rod;

[0006] The X-shaped lifting component has four symmetrically distributed grooves, which are coaxially engaged with the curved connecting rod via a cylindrical key, allowing relative rotation; the X-shaped lifting component has a threaded hole in the center, which forms a helical engagement with the screw.

[0007] The connecting rod has cylindrical holes at both ends, which are coaxially engaged with the base connecting component and the wing beam respectively through cylindrical key pins; the base connecting component is fixed to the fuselage, and the connecting rod and the bent connecting rod rotate relative to each other.

[0008] The bent connecting rod is welded to the wing beam;

[0009] The screw is driven by a rotary drive motor. Through the helical cooperation with the X-shaped lifting component, the rotational motion of the screw is converted into the translational motion of the X-shaped lifting component along the normal direction of the fuselage horizontal plane, thereby driving the bending connecting rod to rotate. The bending connecting rod then drives the wing spars to rotate, realizing the folding and unfolding of the wing.

[0010] Furthermore, the helical fit formed by the screw and the X-shaped lifting component has a self-locking effect.

[0011] To ensure that the displacement y of the X-shaped lifting component along the Y-axis reaches from 0 to the corresponding lifting stroke H, the angle γ between the connecting rod and the negative direction of the Y-axis should be located on the right side of the Y-axis. The distance d between the base connecting component and the screw along the X-direction of the folding and unfolding actuator is:

[0012] d = a + b sin(β) + c sin(γ)

[0013] Where a is the length of the X-shaped lifting component along the X-axis, b is the length of the first half of the bent connecting rod, c is the length of the connecting rod, β is the angle between the first half of the bent connecting rod and the negative Y-axis, and γ is the angle between the connecting rod and the negative Y-axis; and satisfy the following relationships: c > b, β > 0°, γ > 0°, β > γ. To minimize the torque on the connecting rod, the angle between the line of action of the resultant force of the bent connecting rod on the cylindrical key connected to the connecting rod and the connecting rod should be minimized. Correspondingly, γ should be minimized without affecting the overall operation of the mechanism. The three length parameters a of the X-shaped lifting component along the X-axis, b of the first half of the bent connecting rod, and c of the connecting rod should ensure that the overall mass of the unfolding actuator does not exceed 200g.

[0014] Furthermore, when the X-shaped lifting component moves at a constant speed along the positive Y-axis, the relationship between the folding angle α and the displacement y of the X-shaped lifting component along the Y-axis is as follows:

[0015]

[0016] Wherein, the folding angle α is the angle between the wing beam and the positive direction of the Y-axis; h is the Y-direction distance between the X-shaped lifting component and the base connector when the displacement in the Y-axis direction is 0.

[0017] Furthermore, the angle between the wing spars and the positive Y-axis is the folding angle α. When α = 0°, the wing is in a fully folded state. The rotary drive motor drives the X-shaped lifting component to move away from the horizontal plane of the fuselage along the normal direction of the fuselage horizontal plane. Through the cylindrical key, it drives the bending connecting rod and the wing spars to rotate, and the angle α increases accordingly. When 0° < α < 90°, the wing is in the process of folding and unfolding. When α = 90°, the wing is in a fully unfolded state. When the wing is in a fully unfolded state, the rotary drive motor stops driving, and the X-shaped lifting component and the screw form a self-locking mechanism due to the screw engagement. The X-shaped lifting component is fixed, and at the same time, the bending connecting rod and the wing spars are also fixed, ensuring the stability of the wing after unfolding.

[0018] Furthermore, the bending actuator is made of 7-series aluminum alloy.

[0019] Beneficial effects: Compared with the prior art, the significant advantages of this invention are: 1. When the rotary drive motor stops working, the X-shaped lifting component self-locks and no longer moves relative to the screw, ensuring the stability of the wing after folding or unfolding; 2. The structure is simple, with few parts, light weight, small size, and can withstand large wing loads. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a structural diagram of the disassembly and extension mechanism;

[0022] Figure 3 A diagram illustrating the work of the exhibition's implementing agency;

[0023] Figure 4 A simplified structural diagram of the disassembly and extension mechanism;

[0024] Figure 5 This is a schematic diagram of the base connector in the embodiment;

[0025] Figure 6 This is a schematic diagram of the X-shaped lifting component in the embodiment;

[0026] Figure 7 This is a schematic diagram of the cylindrical key pin structure in the embodiment;

[0027] Figure 8 This is a schematic diagram of the connecting rod in the embodiment;

[0028] Figure 9 This is a schematic diagram of the bent connecting rod in the embodiment. Detailed Implementation

[0029] The invention will now be further described with reference to the accompanying drawings.

[0030] The wing folding mechanism for vertical takeoff and landing aircraft described in this invention includes a fuselage shell 101, a rudder 102, a rotor 103, a wing, and a folding actuator; the wing includes a spars 301 and ribs 302;

[0031] The folding and unfolding actuator suitable for vertical take-off and landing aircraft includes a cylindrical key 201, an X-shaped lifting component 202, a connecting rod 203, a screw 204, a rotary drive motor 205, a base connecting component 206, and a bending connecting rod 207.

[0032] The X-shaped lifting component 202 has four symmetrically distributed grooves, which are coaxially engaged with the curved connecting rod 207 via a cylindrical key 201, allowing relative rotation. The X-shaped lifting component 202 has a threaded hole in its center, which is helically engaged with the screw 204. The connecting rod 203 has cylindrical holes at both ends. Its upper end is coaxially engaged with the curved connecting rod 207 via a cylindrical key 201, allowing relative rotation. Its lower end is coaxially engaged with the base connecting component 206 via a cylindrical key 201, allowing relative rotation. The base connecting component 206 is fixed to the fuselage. The lower part of the fuselage has a rotary drive motor 205, which can drive the screw 204 to rotate. The curved connecting rod 207 is connected to the wing spars 301, thereby driving the deployment and folding of the wings.

[0033] The helical engagement formed by the screw 204 and the X-shaped lifting component 202 has a self-locking effect.

[0034] The cylindrical key 201 is equipped with a pin, and the connecting rod 203 and the X-shaped lifting component 202 that cooperate with it are provided with a limiting groove of matching size.

[0035] The distance d between the base connecting member 206 and the screw 204 along the X direction in the aforementioned folding and unfolding actuator is:

[0036] d = a + b sin(β) + c sin(γ)

[0037] Where a is the length of the X-shaped lifting component (202) along the X-axis, b is the length of the first half of the bent connecting rod (207), c is the length of the connecting rod (203), β is the angle between the first half of the bent connecting rod (207) and the negative Y-axis, and γ is the angle between the connecting rod (203) and the negative Y-axis; and the following relationships are satisfied: c>b, β>0°, γ>0°, β>γ.

[0038] When the X-shaped lifting component 202 moves at a constant speed along the positive Y-axis, the relationship between the folding angle α and the displacement y of the X-shaped lifting component 202 along the Y-axis is as follows:

[0039]

[0040] Wherein, the folding angle α is the angle between the wing beam (301) and the positive direction of the Y axis; h is the Y-direction distance between the X-shaped lifting component (202) and the base connector (206) when the displacement in the Y-axis direction is 0.

[0041] The angle between the wing spars 301 and the positive Y-axis is the folding angle α. When α = 0°, the wing is defined as being in a fully folded state; when 0° < α < 90°, the wing is defined as being in the process of unfolding; when α = 90°, the wing is defined as being in a fully unfolded state. When the wing is in a fully unfolded state, the rotary drive motor 205 stops driving, and the X-shaped lifting component 202 and the screw 204 form a self-locking mechanism due to their screw engagement. The X-shaped lifting component 202 is fixed, and at the same time, the bending connecting rod 207 and the wing spars 301 are also fixed.

[0042] When the bending link 207 is in a horizontal position with the wing connection end, the wing is in a fully extended and locked state. At this time, the lifting stroke of the X-shaped lifting component 202 reaches its maximum. When the bending link 207 is in a vertical position with the wing connection end, the wing is in a fully folded state. At this time, the lifting stroke of the X-shaped lifting component 202 reaches its minimum. The lifting stroke of the X-shaped lifting component 202 can be adjusted between the minimum and maximum lifting strokes to correspond to different degrees of folding and unfolding of the wing.

[0043] Specifically, the folding wing deployment process is as follows: When the drone is not launched, the folding wing is in a fully folded state, and the lifting stroke of the X-shaped lifting component 202 is at its minimum value, i.e. Figure 3 At the mid-axis coordinate y=0, the external controller issues a wing deployment command, and the rotary drive motor 205 starts working, driving the screw 204 to rotate rapidly in the forward direction. This causes the X-shaped lifting component 202, which is screwed to the screw 204, to move upward. Consequently, the curved connecting rod 207, which is coaxially engaged with the X-shaped lifting component 202 via the cylindrical key 201, rotates in the direction of decreasing folding angle α, thus deploying the wing. The connecting rod 203, which is coaxially engaged with the curved connecting rod 207 via the cylindrical key 201, rotates along with the rotation of the curved connecting rod 207. The lower end of the rod 203 is connected to the base connecting component 206 via a cylindrical key 201. The base connecting component 206 is connected to the fuselage and serves to fix it. When the lifting stroke of the X-shaped lifting component 202 reaches its maximum, that is, when the corresponding vertical coordinate y = H, the rotary drive motor 205 stops driving. The X-shaped lifting component 202 and the screw 204 form a self-locking due to the screw engagement, and the X-shaped lifting component 202 is fixed. The curved connecting rod 207, which forms a coaxial engagement with the X-shaped lifting component 202 via the cylindrical key 201, is also fixed. The wing deployment angle is fixed and reaches the fully deployed and locked state.

[0044] Folding wing folding process: The folding wing is initially in a fully extended and locked state. At this time, the lifting stroke of the X-shaped lifting component 202 is at its maximum value, i.e. Figure 3At the mid-ordinate y = H, the external controller issues a wing-folding command, and the rotary drive motor 205 starts working, driving the screw 204 to rotate rapidly in the opposite direction. This causes the X-shaped lifting component 202, which is helically engaged with the screw 204, to move downwards. Consequently, the curved connecting rod 207, which is coaxially engaged with the X-shaped lifting component 202 through the cylindrical key 201, rotates in the direction of increasing angle α, thus folding the wing. When the lifting stroke of the X-shaped lifting component 202 reaches its minimum, i.e., at the corresponding mid-ordinate y = 0, the rotary drive motor 205 stops driving, the X-shaped lifting component 202 is fixed, and the curved connecting rod 207, which is coaxially engaged with the X-shaped lifting component 202 through the cylindrical key 201, is fixed. The wing deployment angle is fixed and the wing reaches a fully folded state.

[0045] Specifically, the specific dimensions of the main parts used in the examples of this invention are as follows: Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the unit is millimeters, and the material used in the folding mechanism is aluminum alloy 7050-T73510. Through simulation calculation, the mechanism can work normally when the load on a single wing is 100N. That is, this mechanism can withstand a large wing load with a mass of no more than 200g and a volume of no more than 128mm*45mm*60mm.

Claims

1. A wing folding mechanism suitable for use in a vertical take-off and landing aircraft, characterised in that, The utility model relates to a foldable wing mechanism of a multi-rotor unmanned aerial vehicle, which comprises a fuselage shell (101), a rudder (102), a rotor (103), a wing and a folding and unfolding actuator. The folding and unfolding actuator comprises a cylindrical key (201), an X-shaped lifting member (202), a connecting rod (203), a screw rod (204), a rotary drive motor (205), a base connecting member (206) and a curved connecting rod (207). The X-shaped lifting member (202) has four symmetrical grooves, and is coaxially connected with the curved connecting rod (207) through the cylindrical key (201) and can rotate relative to each other. The connecting rod (203) has a cylindrical hole at both ends, which is coaxially connected with the base connecting member (206) and the wing spar (301) through the cylindrical key (201). The curved connecting rod (207) is welded with the wing spar (301). The screw rod (204) is driven by the rotary drive motor (205) and is connected with the X-shaped lifting member (202) through a screw connection.

2. The wing folding mechanism for a vertical take-off and landing aircraft as claimed in claim 1, wherein, The screw connection has a self-locking effect.

3. The wing folding mechanism for a vertical take-off and landing aircraft as claimed in claim 1 wherein, The distance between the base connecting member (206) and the screw rod (204) along the X direction is d: d=a+b*sin(beta)+c*sin(gamma) wherein a is the length of the X-shaped lifting member (202) along the X axis, b is the length of the first half of the curved connecting rod (207), c is the length of the connecting rod (203), beta is the angle between the first half of the curved connecting rod (207) and the negative direction of the Y axis, gamma is the angle between the connecting rod (203) and the negative direction of the Y axis, and c>b, beta>0°, gamma>0°, and beta>gamma.

4. The wing folding mechanism for a vertical take-off and landing aircraft as claimed in claim 3 wherein, When the X-shaped lifting member (202) moves uniformly along the positive direction of the Y axis, the folding angle alpha and the displacement y of the X-shaped lifting member (202) along the Y axis are related as follows: wherein alpha is the angle between the wing spar (301) and the positive direction of the Y axis, and h is the distance between the X-shaped lifting member (202) and the base connecting member (206) along the Y axis when the displacement of the X-shaped lifting member (202) along the Y axis is 0.

5. The wing folding mechanism suitable for a vertical take-off and landing aircraft according to claims 1-4, characterized in that, The angle between the wing spar (301) and the positive direction of Y axis is folding angle α, when α=0°, the wing is in the fully folded state; when 0°<a<90°, the wing is in the folding process; when α=90°, the wing is in the fully unfolded state, when the wing is in the fully unfolded state, the rotary drive motor (205) stops driving, the X-shaped lifting member (202) and the screw rod (204) are self-locked due to the screw cooperation, the X-shaped lifting member (202) is fixed, and the curved connecting rod (207) and the wing spar (301) are also fixed.

6. The wing folding mechanism suitable for a vertical take-off and landing aircraft as claimed in claims 1 to 4 wherein, The folding and unfolding actuator is made of 7 series aluminum alloy.

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