A fixed-wing unmanned aerial vehicle with foldable wings

Abstract

The application discloses a fixed-wing unmanned plane with foldable wings, and aims to solve the problem of large ground space occupied by the fixed-wing unmanned plane when it is stored on the ground. The application comprises a left wing, a propeller, a fuselage, a right wing, a front wheel, a wing folding device, a rear wheel, a horizontal tail and a vertical tail. The wing folding device is installed on the fuselage, and is connected with the fuselage through a base and a guide rod thereon. The left wing and the right wing are symmetrically arranged on the two sides of the fuselage, and are respectively installed on a left wing base and a right wing base on the wing folding device. The propeller is installed at the front end of the fuselage. The front wheel is arranged below the fuselage. The rear wheel, the horizontal tail and the vertical tail are all arranged on a tail base of the wing folding device. In the flight process, the folding and unfolding of the wings can be realized. When the wings are in the completely folded or unfolded state, the stability in the folded or unfolded state can be ensured by the pulling force of the spring on the two wings.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle, in particular to a wing folding type fixed-wing unmanned aerial vehicle. BACKGROUND

[0002] The unmanned aerial vehicle is a kind of aerial vehicle driven by power without carrying an operator, which is mainly applied in the military field in the early stage, and can be used for aerial surveillance, intelligence collection and weapon system application, and can play an important role in strategy and tactics. With the progress and innovation of technology, the unmanned aerial vehicle has more applications and developments in many fields such as agricultural production, geographical survey, energy monitoring, earthquake rescue and human entertainment, and plays an indispensable role in social development and progress. Compared with the multi-rotor unmanned aerial vehicle, the fixed-wing unmanned aerial vehicle has the advantages of long flight time, long range, high speed, good stability and strong nuclear load capacity, but has the disadvantages of large space occupation and poor adaptability, especially in the cross-medium field, the unfolded wings will bring great resistance when entering the water. The wing folding type unmanned aerial vehicle can make carrying and transportation more convenient, and the existing folding mechanism may increase the volume of the unmanned aerial vehicle or occupy more internal space, which in turn may lead to the increase of the weight of the unmanned aerial vehicle. SUMMARY

[0003] The present application is to solve the problem of large space occupation of the fixed-wing unmanned aerial vehicle when stored on the ground and the problem of large weight of the folding device when flying in the air, and provides a wing folding type fixed-wing unmanned aerial vehicle.

[0004] The technical scheme adopted by the present application to solve the above technical problem is:

[0005] The utility model provides a wing folding type fixed wing unmanned plane, its composition includes left wing, propeller, fuselage, right wing, front wheel, wing folding device, rear wheel, horizontal tail and vertical tail, wing folding device installs on the fuselage, and wing folding device is connected with the fuselage through the base and guide rod on it, and left wing and right wing are symmetrically arranged at the both sides of fuselage, and left wing and right wing are installed on left wing seat and right wing seat on wing folding device respectively, propeller is installed at the front end of fuselage, and front wheel is arranged below the fuselage, and rear wheel, horizontal tail and vertical tail are all arranged on the tail seat of wing folding device, wing folding device includes guide rod, big slider, connecting rod, tail seat, support, T-shaped frame, push plate, L-shaped frame, left wing seat, right wing seat, base, steering wheel seat, steering wheel, swing bar, swing bar wheel, left pin shaft, right pin shaft, left spring, right spring, left fixed block, right fixed block, left triangular block and right triangular block, big slider is slidably connected with guide rod, and tail seat is installed at the rear end of guide rod, and support is installed at the bottom of tail seat, and the rear end of T-shaped frame is slidably connected with support, and the front end of T-shaped frame is fixedly connected with push plate, and two L-shaped frames are symmetrically arranged at the both sides of guide rod, and one end of L-shaped frame is fixedly connected with the front end of push plate, and the other end of L-shaped frame is fixedly connected with big slider, and left wing seat and right wing seat are symmetrically arranged on base relative to longitudinal center line, and left wing seat is hingedly connected with base through left pin shaft, and right wing seat is hingedly connected with base through right pin shaft, and base is arranged at the front end of guide rod, and two connecting rods are symmetrically arranged at the left and right ends of big slider, and one end of left connecting rod is hingedly connected with big slider, and the other end is hingedly connected below left wing seat, and one end of right connecting rod is hingedly connected with big slider, and the other end is hingedly connected below right wing seat, steering wheel seat is installed below guide rod, steering wheel is installed on steering wheel seat, one end of swing bar is installed on the rotating shaft of steering wheel, and the other end of swing bar is connected with swing bar wheel, and swing bar wheel is located in the middle of push plate, and left spring and right spring are symmetrically arranged on base relative to longitudinal center line, and one end of left spring is connected with left fixed block, and the other end of left spring is connected with left triangular block, and one end of right spring is connected with right fixed block, and the other end of right spring is connected with right triangular block, and left fixed block and right fixed block are symmetrically arranged on base relative to longitudinal center line, and left fixed block and right fixed block are fixedly connected with base, and left triangular block and right triangular block are symmetrically arranged relative to longitudinal center line, and left triangular block is fixedly installed on left wing seat, and right triangular block is fixedly installed on right wing seat, wing folding device still includes horizontal limiting block and longitudinal limiting block, two horizontal limiting blocks are symmetrically arranged on base relative to longitudinal center line, and two horizontal limiting blocks are located at the front end of left pin shaft and right pin shaft, and two longitudinal limiting blocks are symmetrically arranged on base relative to longitudinal center line, and two longitudinal limiting blocks are located at the inner side of left pin shaft and right pin shaft.

[0006] Further, the middle of the push plate is provided with an arc-shaped hole, the front end of the arc-shaped hole is a front concave arc, and the rear end of the arc-shaped hole is a rear concave arc.

[0007] Compared with the prior art, the utility model has the following beneficial effects:

[0008] 1. The wing folding type fixed-wing unmanned aerial vehicle of the present application can realize folding and unfolding of the wings during flight, and can be applied in the field of cross-media; and when the wings are in the fully folded or fully unfolded state, the stability in the fully folded or fully unfolded state can be ensured by the pulling force of the left spring and the right spring on the two wings.

[0009] 2. The wing folding type fixed-wing unmanned aerial vehicle of the present application adopts rudder drive, and compared with other power drives, the rudder has the characteristics of light weight, fast response and high reliability; in combination with the role of the left spring and the right spring in the present application, and by using the distance difference between the front concave arc and the rear concave arc in the push plate to reduce the length of the swing rod, the required torque of the rudder is reduced, and the weight of the whole wing folding device is reduced.

[0010] 3. The wing folding type fixed-wing unmanned aerial vehicle of the present application has the advantages of long flight time, high speed and good stability when the wings are unfolded, and has the advantages of convenient storage and carrying when the wings are folded. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is a perspective view of the overall structure of the wing folding type fixed-wing unmanned aerial vehicle of the present application;

[0012] Figure 2 It is a top view of the wing folding device 6;

[0013] Figure 3 It is a perspective view of the bottom of the wing folding device 6;

[0014] Figure 4 It is a position relationship diagram of the left pin shaft 6F, the right pin shaft 6G, the left spring 6H, the right spring 61, the left fixed block 6J, the right fixed block 6K, the left triangular block 6M, the right triangular block 6N, the horizontal limiting block 6S, the vertical limiting block 6T, the left wing seat 68, the right wing seat 69 and the base 6A;

[0015] Figure 5 It is a top view of the wing folding device 6 when the fixed-wing unmanned aerial vehicle is in the initial state;

[0016] Figure 6 It is a rear view of Figure 5 ;

[0017] Figure 7 It is a top view of the wing folding device 6 when the wings are gradually unfolded;

[0018] Figure 8 It is a rear view of Figure 7 ;

[0019] Figure 9A plan view of the wing folding device 6 when the wing is gradually folded;

[0020] Figure 10 A rear view of Figure 9 ;

[0021] Figure 11 A plan view of the wing folding device 6 when the wing is gradually folded;

[0022] Figure 12 A rear view of Figure 11 .

[0023] 1, left wing; 2, propeller; 3, fuselage; 4, right wing; 5, front wheel; 6, wing folding device; 60, guide rod; 61, large sliding block; 62, connecting rod; 63, tail seat; 64, support; 65, T-shaped frame; 66, push plate; 660, arc-shaped hole; 661, front concave arc; 662, rear concave arc; 67, L-shaped frame; 68, left wing seat; 69, right wing seat; 6A, base; 6B, steering gear seat; 6C, steering gear; 6D, swing rod; 6E, swing rod wheel; 6F, left pin shaft; 6G, right pin shaft; 6H, left spring; 6I, right spring; 6J, left fixed block; 6K, right fixed block; 6M, left triangular block; 6N, right triangular block; 6S, transverse limiting block; 6T, longitudinal limiting block; 7, rear wheel; 8, horizontal tail; 9, vertical tail. DETAILED DESCRIPTION

[0024] The specific embodiments of the present application are described below to facilitate the understanding of the present application for those skilled in the art, but it should be clear that the present application is not limited to the scope of the specific embodiments, and for those skilled in the art, any changes within the spirit and scope of the present application as defined and determined by the appended claims are obvious, and all inventions utilizing the concept of the present application are within the scope of protection.

[0025] As shown in Figure 1 , the present application provides a wing folding type fixed-wing unmanned aerial vehicle, which comprises a left wing 1, a propeller 2, a fuselage 3, a right wing 4, a front wheel 5, a wing folding device 6, a rear wheel 7, a horizontal tail 8 and a vertical tail 9; the wing folding device 6 is installed on the fuselage 3, the wing folding device 6 is connected to the fuselage 3 through the base 6A and the guide rod 60 thereon, the left wing 1 and the right wing 4 are symmetrically arranged on the two sides of the fuselage 3, and the left wing 1 and the right wing 4 are respectively installed on the left wing seat 68 and the right wing seat 69 of the wing folding device 6, the propeller 2 is installed at the front end of the fuselage 3, the front wheel 5 is arranged below the fuselage 3, the rear wheel 7, the horizontal tail 8 and the vertical tail 9 are all arranged on the tail seat 63 of the wing folding device 6. The front end of the base 6A and the guide rod 60 of the wing folding device 6 is connected to the fuselage 3.

[0026] AsFigure 2 、 Figure 3 and Figure 4 As shown in the figures, the wing folding device 6 comprises a guide rod 60, a large slider 61, a connecting rod 62, a tail wing seat 63, a support 64, a T-shaped frame 65, a push plate 66, an L-shaped frame 67, a left wing seat 68, a right wing seat 69, a base 6A, a steering wheel seat 6B, a steering wheel 6C, a swing rod 6D, a swing rod wheel 6E, a left pin shaft 6F, a right pin shaft 6G, a left spring 6H, a right spring 61, a left fixed block 6J, a right fixed block 6K, a left triangular block 6M, and a right triangular block 6N. The large slider 61 is in sliding connection with the guide rod 60, the tail wing seat 63 is installed at the rear end of the guide rod 60, the support 64 is installed at the bottom of the tail wing seat 63, the rear end of the T-shaped frame 65 is in sliding connection with the support 64, the front end of the T-shaped frame 65 is fixedly connected with the push plate 66, two L-shaped frames 67 are symmetrically arranged on both sides of the guide rod 60, one end of the L-shaped frame 67 is fixedly connected with the front end of the push plate 66, and the other end of the L-shaped frame 67 is fixedly connected with the large slider 61. The left wing seat 68 and the right wing seat 69 are symmetrically arranged on the base 6A with respect to the longitudinal center line O-O, the left wing seat 68 is hingedly connected to the base 6A through the left pin shaft 6F, the right wing seat 69 is hingedly connected to the base 6A through the right pin shaft 6G, the base 6A is arranged at the front end of the guide rod 60, two connecting rods 62 are symmetrically arranged at the left and right ends of the large slider 61, one end of the left connecting rod 62 is hingedly connected to the large slider 61, and the other end of the left connecting rod 62 is hingedly connected to the lower surface of the left wing seat 68, one end of the right connecting rod 62 is hingedly connected to the large slider 61, and the other end of the right connecting rod 62 is hingedly connected to the lower surface of the right wing seat 69, the steering wheel seat 6B is installed on the lower surface of the guide rod 60, the steering wheel 6C is installed on the steering wheel seat 6B, one end of the swing rod 6D is installed on the rotating shaft of the steering wheel 6C, the other end of the swing rod 6D is connected with the swing rod wheel 6E, the swing rod wheel 6E is located in the middle of the push plate 66, the left spring 6H and the right spring 61 are symmetrically arranged on the base 6A with respect to the longitudinal center line O-O, one end of the left spring 6H is connected with the left fixed block 6J, the other end of the left spring 6H is connected with the left triangular block 6M, one end of the right spring 61 is connected with the right fixed block 6K, and the other end of the right spring 61 is connected with the right triangular block 6N, the left fixed block 6J and the right fixed block 6K are symmetrically arranged on the base 6A with respect to the longitudinal center line O-O, the left fixed block 6J and the right fixed block 6K are fixedly connected with the base 6A, the left triangular block 6M and the right triangular block 6N are symmetrically arranged with respect to the longitudinal center line O-O, the left triangular block 6M is fixedly installed on the left wing seat 68, and the right triangular block 6N is fixedly installed on the right wing seat 69. The longitudinal center line O-O is the longitudinal center line of the base 6A, and the base 6A and the front end of the guide rod 60 are installed on the fuselage 3.

[0027] As Figure 2 and Figure 3As shown, the middle of the push plate 66 is provided with an arc-shaped hole 660, the front end of the arc-shaped hole 660 is a front concave arc 661, the rear end of the arc-shaped hole 660 is a rear concave arc 662, and the arc-shaped shapes of the front concave arc 661 and the rear concave arc 662 can make the push plate 66 receive a greater force in the front-rear direction from the swing rod wheel 6E.

[0028] As shown in the figure, Figure 4 As shown, the wing folding device 6 further comprises transverse limiting blocks 6S and longitudinal limiting blocks 6T, two transverse limiting blocks 6S are symmetrically arranged on the base 6A relative to the longitudinal center line O-O, and the two transverse limiting blocks 6S are located at the front ends of the left pin shaft 6F and the right pin shaft 6G, the transverse limiting block 6S is used when the left wing seat 68 and the right wing seat 69 are unfolded (i.e. the left wing seat 68 and the right wing seat 69 are 180°), to limit the rotation of the left wing seat 68 and the right wing seat 69; two longitudinal limiting blocks 6T are symmetrically arranged on the base 6A relative to the longitudinal center line O-O, and the two longitudinal limiting blocks 6T are located on the inner side of the left pin shaft 6F and the right pin shaft 6G, and the longitudinal limiting block 6T is used when the left wing seat 68 and the right wing seat 69 are folded (i.e. the left wing seat 68 and the right wing seat 69 are 10°), to limit the rotation of the left wing seat 68 and the right wing seat 69.

[0029] Working principle of the present application:

[0030] The wing folding device 6 of the present application is a two-crank slider structure, symmetrically distributed, powered by the steering gear 6C, driving the large slider 61 to slide on the guide rod 60, the large slider 61 simultaneously driving the two connecting rods 62, and then driving the left wing seat 68 and the right wing seat 69 to rotate, thereby realizing the folding and unfolding of the wings. A left spring 6H is arranged between the base 6A and the left wing seat 68, and a right spring 6I is arranged between the base 6A and the right wing seat 69, the tension of the left spring 6H and the right spring 6I on the two wings can ensure the stability in the two states, and the principle of the left spring 6H and the right spring 6I in the present application is combined, and the distance difference between the front concave arc 661 and the rear concave arc 662 in the middle of the push plate 66 is used to reduce the length of the swing rod 6D, thereby reducing the required torque of the steering gear 6C, thereby effectively reducing the mass of the entire wing folding device 6.

[0031] The principle of the left spring 6H and the right spring 6I in the present application: the left spring 6H and the right spring 6I are always in a lengthened state, the line connecting the left pin shaft 6F to the left fixed block 6J is the left side rotation baseline P, and the line connecting the right pin shaft 6G to the right fixed block 6K is the right side rotation baseline Q. When the left spring 6H and the right spring 6I are on the inner side of the left side rotation baseline P and the right side rotation baseline Q, as shown in the figure, Figure 5 or Figure 11As shown, the pulling force of the left spring 6H on the left wing seat 68 will generate clockwise torque on the left wing seat 68 around the left pin shaft 6F, and the pulling force of the right spring 6I on the right wing seat 69 will generate counterclockwise torque on the right wing seat 69 around the right pin shaft 6G, at this time, the pulling force of the left spring 6H and the right spring 6I helps to fold the wings; on the contrary, when the left spring 6H and the right spring 6I are outside the left rotation baseline P and the right rotation baseline Q, as shown in Figure 7 or Figure 9 As shown, the pulling force of the left spring 6H on the left wing seat 68 will generate counterclockwise torque on the left wing seat 68 around the left pin shaft 6F, and the pulling force of the right spring 6I on the right wing seat 69 will generate clockwise torque on the right wing seat 69 around the right pin shaft 6G, at this time, the pulling force of the left spring 6H and the right spring 6I helps to unfold the wings.

[0032] 1. When the wings are folded, it is the initial state of the fixed-wing UAV, the swing rod wheel 6E is located in the middle of the arc-shaped hole 660, see Figure 5 and Figure 6 ;

[0033] 2. When it is necessary to unfold the wings, the rudder 6C drives the swing rod 6D to swing forward, the swing rod wheel 6E contacts the front concave arc 661 of the push plate 66 to generate a pushing force in front of the push plate 66, which drives the large slider 61 to move forward through the L-shaped frame 67, and drives the left wing seat 68 to rotate clockwise around the left pin shaft 6F and the right wing seat 69 to rotate counterclockwise around the right pin shaft 6G, when the swing rod 6D rotates 180°, the swing rod wheel 6E contacts the vertex of the front concave arc 661 of the push plate 66, see Figure 7 and Figure 8 , then the pulling force of the left spring 6H and the right spring 6I on the two wing seats makes the left wing seat 68 continue to rotate clockwise around the left pin shaft 6F and the right wing seat 69 continue to rotate counterclockwise around the right pin shaft 6G, when the left wing seat 68 and the right wing seat 69 are unfolded to the maximum state (i.e. the left wing seat 68 and the right wing seat 69 are 180°), see Figure 9 and Figure 10 , at this time, the outer end surface of the left wing seat 68 and the outer end surface of the right wing seat 69 respectively contact the corresponding transverse limiting block 6S, the transverse limiting block 6S balances the pulling force generated by the left spring 6H and the right spring 6I, and is in a stable state, the entire unfolding process is completed.

[0034] 3. When the wings are converted from the unfolded state to the folded state, the rudder 6C drives the swing rod 6D to swing backward, the swing rod wheel 6E pushes the push plate 66 to move backward, which drives the large slider 61 to slide backward through the L-shaped frame 68, and drives the left wing seat 68 to rotate counterclockwise around the left pin shaft 6F and the right wing seat 69 to rotate clockwise around the right pin shaft 6G, when the swing rod 6D rotates 180°, the swing rod wheel 6E contacts the vertex of the rear concave arc 662 of the push plate 66, see Figure 11 and Figure 12, then the pulling force of the left spring 6H and the right spring 6I on the two wing seats makes the left wing seat 68 continue to rotate counterclockwise around the left pin shaft 6F and the right wing seat 69 continue to rotate clockwise around the right pin shaft 6G, when the left wing seat 68 and the right wing seat 69 are folded to the minimum state (i.e. the included angle between the left wing seat 68 and the right wing seat 69 is about 10°), see Figure 5 and Figure 6 At this time, the inner end face of the left wing seat 68 and the inner end face of the right wing seat 69 respectively contact with the corresponding longitudinal limiting block 6T, the longitudinal limiting block 6T balances the pulling force generated by the left spring 6H and the right spring 6I, and is in a stable state, and the whole folding process is completed.

Claims

1. A fixed-wing unmanned aerial vehicle with folding wings, the fixed-wing unmanned aerial vehicle with folding wings includes a left wing (1), a propeller (2), a fuselage (3), a right wing (4), a nose wheel (5), a wing folding device (6), a rear wheel (7), a horizontal tail (8), and a vertical tail (9); the wing folding device (6) is mounted on the fuselage (3), and the wing folding device (6) is connected to the fuselage (3) through a base (6A) and a guide rod (60) thereon; the left wing (1) and the right wing (4) are symmetrically arranged on both sides of the fuselage (3), and the left wing (1) and the right wing (4) are respectively mounted on the left wing mount (68) and the right wing mount (69) on the wing folding device (6); the propeller (2) is mounted on the front end of the fuselage (3); and the nose wheel (5) Located below the fuselage (3), the rear wheel (7), horizontal tail (8) and vertical tail (9) are all mounted on the tail fin seat (63) of the wing folding device (6); the wing folding device (6) includes a guide rod (60), a large slider (61), a connecting rod (62), a tail fin seat (63), a support (64), a T-shaped frame (65), a push plate (66), an L-shaped frame (67), a left wing seat (68), a right wing seat (69), a base (6A), a servo seat (6B), a servo (6C), a swing arm (6D), a swing arm wheel (6E), a left pin (6F), a right pin (6G), a left spring (6H), a right spring (6I), a left fixed block (6J), a right fixed block (6K), a left triangular block (6M) and a right triangular block (6N);The large slider (61) is slidably connected to the guide rod (60), the tail fin seat (63) is installed at the rear end of the guide rod (60), the support (64) is installed at the bottom of the tail fin seat (63), the rear end of the T-shaped frame (65) is slidably connected to the support (64), the front end of the T-shaped frame (65) is fixedly connected to the push plate (66), and two L-shaped frames (67) are symmetrically arranged on both sides of the guide rod (60), with one end of the L-shaped frame (67) connected to the front of the push plate (66). One end is fixedly connected to the other end of the L-shaped frame (67), which is fixedly connected to the large slider (61). The left wing mount (68) and the right wing mount (69) are symmetrically arranged on the base (6A) with respect to the longitudinal centerline (OO). The left wing mount (68) is hinged to the base (6A) via the left pin (6F), and the right wing mount (69) is hinged to the base (6A) via the right pin (6G). The base (6A) is located at the front end of the guide rod (60). The two connecting rods are fixedly connected to the base (6A). The rods (62) are symmetrically arranged on the left and right ends of the large slider (61). One end of the connecting rod (62) on the left side is hinged to the large slider (61), and the other end is hinged to the bottom of the left wing seat (68). One end of the connecting rod (62) on the right side is hinged to the large slider (61), and the other end is hinged to the bottom of the right wing seat (69). The servo mount (6B) is installed below the guide rod (60), and the servo (6C) is installed on the servo mount (6B). One end of the swing rod (6D) is installed on the shaft of the servo (6C), and the other end of the swing rod (6D) is connected to the swing rod wheel (6E). The swing rod wheel (6E) is located in the middle of the push plate (66). The left spring (6H) and the right spring (6I) are symmetrically arranged on the base (6A) with respect to the longitudinal center line (OO). One end of the left spring (6H) is connected to the left fixed block (6J), and the other end of the left spring (6H) is connected to the left triangular block (6M). One end of the right spring (6I) is connected to the right fixed block (6K), and the other end of the right spring (6I) is connected to the right triangular block (6N). The left fixed block (6J) and the right fixed block (6K) are symmetrically arranged on the base (6A) with respect to the longitudinal center line (OO). The left fixed block (6J) and the right fixed block (6K) are both fixed to the base (6A). The left triangular block (6M) and the right triangular block (6N) are symmetrically arranged with respect to the longitudinal center line (OO), and the left triangular block (6M) is fixedly mounted on the left wing mount (68), and the right triangular block (6N) is fixedly mounted on the right wing mount (69); the wing folding device (6) It also includes lateral limiting blocks (6S) and longitudinal limiting blocks (6T). The two lateral limiting blocks (6S) are symmetrically arranged on the base (6A) with respect to the longitudinal centerline (OO), and are located at the front ends of the left pin (6F) and right pin (6G). The two longitudinal limiting blocks (6T) are symmetrically arranged on the base (6A) with respect to the longitudinal centerline (OO), and are located inside the left pin (6F) and right pin (6G).

2. The fixed-wing UAV with folding wings according to claim 1, characterized in that: The push plate (66) has an arc-shaped hole (660) in the middle. The front end of the arc-shaped hole (660) is a forward concave arc (661), and the rear end of the arc-shaped hole (660) is a backward concave arc (662).

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