A swarm drone folding wing deployment drive system and method

Abstract

The application provides a cluster unmanned plane folding wing unfolding drive system and method, the system comprises a gas cylinder, a solenoid valve, a cylinder assembly, a transmission assembly, a locking assembly, a wing assembly, a pipeline and a wing rotating shaft. The unfolding drive system uses high-pressure gas as a power source, a solenoid valve as a power control element, a gas cylinder as a power storage element and a cylinder as a power execution element. Compared with a gunpowder gas drive, the system has the advantages of low danger, low operation requirement, reusability, low cost, convenient transportation and use, adjustable gas source pressure and no pollution. Compared with an elastic element, the system has the advantages of large instantaneous thrust, small structure space occupation and convenient operation.

Description

TECHNICAL FIELD

[0001] The present application relates to a cluster UAV folding wing deployment drive system and method. BACKGROUND

[0002] With the rapid development of UAV technology, UAVs have been widely used in many military and civilian fields. In the military field, "UAV cluster tactics" has been highly valued by countries around the world and will inevitably become an important driving force for changing the rules of future warfare.

[0003] In order to realize large-scale clustering, the number of single launch vehicles needs to be as large as possible, so cluster UAVs generally adopt folding wing design. By adopting folding wing design, the envelope size of the UAV in the transportation state can be significantly reduced, and the loading density of the cluster UAV can be improved.

[0004] Existing UAV folding wing design methods and devices, such as patents CN 215622654 U, CN 111998738 A, and CN 207268591 U, use elastic elements to provide deployment driving force, which are suitable for small UAVs and folding wings of cruise missiles; such as patent CN 202511719 U and the paper "Analysis of Folding Missile Wing Deployment Process by Gas Actuator Cylinder", which uses a gas actuator cylinder to provide deployment driving force, which is suitable for folding wings of missiles that require large deployment driving force and have strict requirements on structure space and weight. Patent "Unmanned Aerial Vehicle Wing Intelligent Folding Device" (CN204310033U) proposes a wing intelligent folding mechanism using an electric push rod + hinge mechanism, which is mainly used for wing intelligent folding before the unmanned aerial vehicle is packed and transported on the ground, and does not have the function of quickly deploying the folding wing during the launch phase of the unmanned aerial vehicle. SUMMARY

[0005] The present application aims to establish a mathematical model for folding wing deployment drive, and through rapid simulation, to realize iterative design of key parameters of the system, and to provide support for the design of folding wing deployment systems of related UAVs, cruise missiles, and other folding wings.

[0006] The present application provides a cluster UAV folding wing deployment drive system, which comprises a gas cylinder (1), an electromagnetic valve (2), a cylinder assembly (3), and a transmission assembly (4).

[0007] The system uses high-pressure gas as a power source, an electromagnetic valve (2) as a power control element, a gas cylinder (1) as a power storage element, and a cylinder assembly (3) as a power execution element.

[0008] The cylinder assembly (3) comprises a cylinder body (9) and a piston rod (10), and the cylinder body (9) is provided with an exhaust hole (11).

[0009] The system further comprises a locking assembly (5), a wing assembly (6), a pipeline (7) and a wing rotating shaft (8).

[0010] The wing assembly (6) is rotationally connected with the wing rotating shaft (8), and the wing rotating shaft (8) is fixedly connected with the fuselage.

[0011] The transmission assembly (4) comprises a power input end (12) and a power output end (13), the power input end (12) is fixedly connected with the end of the piston rod (10), and the power output end (13) is rotationally connected with a root rib protrusion (14) of the wing assembly (6).

[0012] The exhaust hole (11) is located at the end position of the ejection stroke of the piston rod (10), and the exhaust hole (11) is opened when the piston rod (10) reaches the designed ejection stroke, and the high-pressure gas in the cylinder body (9) is discharged to the atmosphere.

[0013] The locking assembly (5) comprises a locking pin assembly (15) and a limiting buffer assembly (16).

[0014] The locking pin assembly (15) comprises a sliding pin hole (17), a rectangular sliding pin (18) and a compression spring (19); the sliding pin hole (17) is fixedly connected with the unmanned aerial vehicle fuselage, the compression spring (19) is arranged between the sliding pin hole (17) and the rectangular sliding pin (18), and the inner wall surface of the sliding pin hole (17) and the outer surface of the rectangular sliding pin (18) are provided with bosses, which can limit the maximum outward sliding of the rectangular sliding pin (18).

[0015] The top surface of the rectangular sliding pin (18) is arc-shaped, and the height of one side corresponding to the power input end (12) is lower, and the height of the other side is higher; before the power input end (12) reaches the rectangular sliding pin (18), the rectangular sliding pin (18) is in the maximum outward extension position under the action of the compression spring (19); when the power input end (12) reaches the rectangular sliding pin (18) and continues to move, the power input end (12) will extrude the arc-shaped top surface of the rectangular sliding pin (18), the rectangular sliding pin (18) will compress the compression spring (19), and will slide inward under the constraint action of the sliding pin hole (17); when the power input end (12) passes the rectangular sliding pin (18) and starts to impact the limiting buffer assembly (16), the rectangular sliding pin (18) will extend to the maximum position under the action of the compression spring (19), the right side plane of the rectangular sliding pin (18) will be in contact with the left side plane of the power input end (12), so as to realize the locking of the position of the power input end (12), and then realize the locking of the wing assembly (6).

[0016] The limiting buffer assembly (16) is fixedly connected with the fuselage, when the piston rod (10) reaches the designed ejection stroke, the power input end (12) will hit the limiting buffer assembly (16), and a shock pad is arranged on the impact surface of the limiting buffer assembly (16).

[0017] The application further provides a folding wing unfolding driving method of a cluster unmanned aerial vehicle, comprising: establishing a wing unfolding dynamics model containing a transmission assembly (4) and a wing assembly; establishing a high-pressure aerodynamic thrust solving mathematical model; establishing a data interaction module in Matlab / simulink; and realizing real-time data interaction of the wing unfolding dynamics model and the high-pressure aerodynamic thrust solving mathematical model through the data interaction module.

[0018] In the wing unfolding dynamics model, a fixed constraint is applied to a wing rotating shaft, and a hinge rotating pair is arranged between the wing and the rotating shaft; a sliding pair is applied to the power input end (12) of the transmission assembly (4) along a movement direction, and a hinge rotating pair is applied to the hinge connection between the power output end (13) of the transmission assembly (4) and the wing; the power input end (12) of the transmission assembly (4) applies Force as a driving force; inertia acting on the unfolding driving system is set through a Gravity command; a state variable method is used to establish a wing unfolding angle state variable and a driving force state variable, wherein the assignment of the wing unfolding angle state variable is obtained through an angle measurement function, and is output to the data interaction module of Matlab / simulink through an output macro command, and the assignment of the driving force state variable is obtained from the data interaction module of Matlab / simulink through an input macro command;

[0019] The high-pressure aerodynamic thrust solving mathematical model refers to a mathematical model of a high-pressure gas from a gas cylinder (1), a valve, a cylinder body (9), and a whole process of discharging from the cylinder body (9) to generate a propelling force acting on a piston rod (10), which is established based on the gas thermodynamic principle, the energy conservation law and the mass conservation law; based on the high-pressure aerodynamic thrust solving mathematical model, a solving module is established in Matlab / simulink, and is connected with the data interaction module in the form of a sub-function; through the data interaction module, the displacement and speed of the piston rod (10) are introduced into the aerodynamic thrust sub-function, and the aerodynamic thrust sub-function is calculated to output the cylinder thrust to the data interaction module;

[0020] The aerodynamic thrust sub-function is obtained through the following formulas (1)-(5):

[0021] The high-pressure air mass change equation in the gas cylinder (1) is:

[0022]

[0023] Wherein dt represents derivation with respect to time t, and V1 is the gas cylinder volume.

[0024] The energy change equation of high-pressure air in the cylinder (1) is:

[0025]

[0026] The mass change equation of high-pressure air in the cylinder (9) is:

[0027]

[0028] The energy change equation of high-pressure air in the cylinder (9) is:

[0029]

[0030] The calculation formula of the piston rod (10) thrust F in the cylinder (9) is:

[0031] F = p1S (5)

[0032] Wherein p1 is the high-pressure air density in the cylinder (1); u1 and h1 are the specific thermodynamic energy and specific enthalpy of high-pressure air in the cylinder (1) respectively; u2 is the specific thermodynamic energy of high-pressure air in the cylinder (9); m2 is the high-pressure air mass in the cylinder (9); Q m is the throttle gas mass flow; S is the effective thrust area of the piston rod (10); l1 is the displacement of the piston rod (10);

[0033] The throttle gas mass flow equation is:

[0034]

[0035] Wherein A is the equivalent flow area of the electromagnetic valve; μ is the flow correction coefficient; k is the adiabatic coefficient; R g is the gas constant, T is the high-pressure air temperature in the cylinder (1), T c is the air critical temperature, p0 is the high-pressure air pressure in the cylinder (1), and p1 is the high-pressure air pressure in the cylinder (9).

[0036] Beneficial effects: compared with the gunpowder gas drive, the system has the advantages of low danger, low operation requirement, reusability, low cost, convenient transportation and use, adjustable gas source pressure, no pollution and the like; compared with the elastic element, has the advantages of large instantaneous thrust, small structure space occupation, convenient operation and the like. BRIEF DESCRIPTION OF DRAWINGS

[0037] The above and / or other aspects of the present application will become apparent from the following detailed description of the application taken in conjunction with the accompanying drawings.

[0038] Figure 1 It is a system architecture diagram of the present application.

[0039] Figure 2 is a schematic diagram of the folding wing into the locking process.

[0040] Figure 3 is a schematic diagram of the data interaction of the folding wing deployment driving system of the swarm UAV.

[0041] Figure 4 is a schematic diagram of the folding wing deployment angle displacement curve.

[0042] Figure 5 is a schematic diagram of the folding wing deployment angle velocity curve.

[0043] Figure 6 is a schematic diagram of the piston rod displacement curve.

[0044] Figure 7 is a schematic diagram of the gas cylinder pressure curve. DETAILED DESCRIPTION

[0045] As shown in Figure 1 , the present application provides a folding wing deployment driving system of a swarm UAV, which comprises a gas cylinder 1, a solenoid valve 2, a cylinder assembly 3, a transmission assembly 4, a locking assembly 5, a wing assembly 6, a pipeline 7 and a wing rotating shaft 8.

[0046] The deployment driving system uses high-pressure gas as the power source, the solenoid valve 2 as the power control element, the gas cylinder 1 as the power reserve element, and the cylinder assembly 3 as the power execution element.

[0047] The cylinder assembly 3 comprises a cylinder body 9 and a piston rod 10, and the cylinder body 9 is provided with an exhaust hole 11. The wing assembly 6 is connected to the wing rotating shaft 8 through rotational constraint, and the wing rotating shaft 8 is fixedly connected to the fuselage.

[0048] The transmission assembly 4 comprises a power input end 12 and a power output end 13. The power input end 12 is fixedly connected to the end of the piston rod 10, and the power output end 13 is connected to the root rib protrusion 14 of the wing assembly 6 through rotational constraint.

[0049] The exhaust hole 11 is located at the end position of the piston rod ejection stroke, and the exhaust hole 11 is opened when the piston rod 10 reaches the designed ejection stroke, and the high-pressure gas in the cylinder body 9 is released to the atmosphere.

[0050] The locking assembly 5 comprises a locking pin assembly 15 and a limiting and buffering assembly 16.

[0051] The locking pin assembly 15 includes a sliding pin hole 17, a rectangular sliding pin 18, and a compression spring 19. The sliding pin hole 17 is fixedly connected to the machine body. The compression spring 19 is located between the sliding pin hole 17 and the rectangular sliding pin 18. The inner wall of the sliding pin hole 17 and the outer surface of the rectangular sliding pin 18 are provided with bosses, which can limit the maximum outward sliding of the rectangular sliding pin 18. The top surface of the rectangular sliding pin 18 is arc-shaped, and the height is lower on one side corresponding to the power input end 12 and higher on the other side.

[0052] like Figure 2 As shown, before the power input end 12 reaches the rectangular sliding pin 18, the rectangular sliding pin 18 is in its maximum extended position under the action of the compression spring 19; when the power input end 12 reaches the rectangular sliding pin 18 and continues to move, the power input end 12 will squeeze the arc-shaped top surface of the rectangular sliding pin 18, the rectangular sliding pin 18 will compress the compression spring 19, and slide inward under the constraint of the sliding pin hole 17; when the power input end 12 passes the rectangular sliding pin 18 and begins to hit the limiting buffer assembly 16, the rectangular sliding pin 18 extends to its maximum position under the action of the compression spring 19, and the right side plane of the rectangular sliding pin 18 contacts the left side plane of the power input end 12, thereby locking the position of the power input end 12, and then locking the wing assembly 6.

[0053] The limiting buffer assembly 16 is fixedly connected to the fuselage. When the piston rod 10 reaches the designed ejection stroke, the power input end 12 will impact the limiting buffer assembly 16. To reduce the impact, a shock-absorbing pad is provided on the impact surface of the limiting buffer assembly 16.

[0054] When designing the folding wing deployment drive system for swarm drones, the magnitude of the driving force is highly coupled with the real-time state of the wing deployment.

[0055] like Figure 3 As shown, the present invention also provides a method for driving the folding wing deployment of a clustered UAV, including: establishing a wing deployment dynamic model containing a transmission component (4) and a wing component 6 in the dynamic software ADAMS; establishing a high-pressure aerodynamic thrust mathematical model in Matlab; establishing a data interaction module in Matlab / simulink; and finally, realizing real-time data interaction between the dynamic model and the high-pressure aerodynamic thrust mathematical model through the data interaction module, thereby solving the problem of the high coupling between the driving force magnitude and the real-time wing deployment state.

[0056] Establish a wing deployment dynamics model:

[0057] The deployment drive system design needs to be based on the force transmission path and geometric dimensions of each component. First, a wing deployment dynamics model containing the transmission component 4 and the wing component 6 is established in the dynamics software ADAMS. In the model, the wing shaft is subjected to a fixed constraint, and a hinge rotary pair is provided between the wing and the shaft; the power input end 12 of the transmission component 4 is subjected to a sliding pair in the movement direction, and a hinge rotary pair is provided at the hinge connection between the power output end 13 of the transmission component 4 and the wing. The power input end 12 of the transmission component 4 is subjected to Force as a driving force (i.e. the piston rod thrust). The state variable method is used to establish the piston rod speed, displacement state variable and driving force state variable. The assignment of the piston rod speed and displacement state variable is obtained through the displacement and speed measurement function, and is output to the data interaction module of Matlab / simulink through the output macro command. The assignment of the driving force state variable is obtained from the data interaction module of Matlab / simulink through the input macro command.

[0058] High-pressure pneumatic thrust solving mathematical model:

[0059] The deployment drive system design needs to be based on the gas thermodynamics principle, the law of conservation of energy and the law of conservation of mass, to establish a high-pressure gas pneumatic thrust mathematical model for the whole process from the gas cylinder to the valve to the cylinder to the discharge from the cylinder, which generates the thrust on the piston rod. Based on the mathematical model, a solving module is established in Matlab / simulink, and is connected with the data interaction module in the form of a sub-function. Through the data interaction module, the piston rod displacement and speed are introduced into the pneumatic thrust sub-function, and the cylinder thrust calculated by the pneumatic thrust sub-function is output to the data interaction module (Matlab / simulink software itself has data transmission capability).

[0060] The high-pressure air mass change equation in the cylinder is:

[0061]

[0062] The high-pressure air energy change equation in the cylinder is:

[0063]

[0064] The high-pressure air mass change equation in the cylinder is:

[0065]

[0066] The high-pressure air energy change equation in the cylinder is:

[0067]

[0068] The piston rod thrust equation in the cylinder is:

[0069] F = p1S (5)

[0070] In the formula: p1 is the high-pressure air density in the cylinder; u1 and h1 are the specific thermodynamic energy and specific enthalpy of the high-pressure air in the cylinder respectively; u2 is the specific thermodynamic energy of the high-pressure air in the cylinder; m2 is the mass of the high-pressure air in the cylinder; Q m is the throttle gas mass flow; S is the effective thrust area of the piston rod; and l1 is the piston rod displacement.

[0071] The electromagnetic valve gas flow equation is:

[0072]

[0073] In the formula: A 阀 is the equivalent flow area of the electromagnetic valve; μ x is the flow correction coefficient; k is the adiabatic coefficient; R g is the gas constant, T1 is the high-pressure air temperature in the cylinder, T c is the critical temperature of air, p1 is the high-pressure air pressure in the cylinder, and p2 is the high-pressure air pressure in the cylinder.

[0074] The method is used for a certain type of cluster unmanned aerial vehicle as a research object, and a wing unfolding process simulation analysis is carried out.

[0075] After iterative design, the main design parameters of the system are determined as follows: the cylinder inner diameter is 30 mm, the piston rod stroke is 80 mm, the electromagnetic valve opening time is 0.12 s, the effective diameter is 6 mm, the cylinder volume is 50 ML, the allowable pressure is 15 MPa, and the practical pressure is 13 MPa. Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 as shown in the wing unfolding process calculation results of the cluster unmanned aerial vehicle.

[0076] Figure 4 is the cluster unmanned aerial vehicle folded wing unfolding angle displacement curve, and it can be seen from the figure that the angle displacement reaches the design value, i.e., 57.5°, at about 0.178 s.

[0077] Figure 5 is the cluster unmanned aerial vehicle folded wing unfolding angular velocity curve, and it can be seen from the figure that the angular velocity reaches the peak value, i.e., about 460° / s, at about 0.13 s.

[0078] Figure 6 is the cluster unmanned aerial vehicle folded wing unfolding piston displacement curve, and it can be seen from the figure that the piston rod displacement reaches the design value, i.e., 80 mm, at about 0.178 s.

[0079] Figure 7is the pressure change curve of the gas cylinder in the process of the folding wing of the cluster UAV unfolding, and it can be seen from the figure that the pressure is 13 MPa at the initial moment and reduces to 4.7 MPa at about 0.178 s.

[0080] From Figure 4 , Figure 5 , Figure 6 , Figure 7 It can be seen that the final design of the folding wing unfolding drive system of the cluster UAV meets the technical requirements of the wing unfolding response.

[0081] In the specific implementation, the present application provides a computer storage medium and a corresponding data processing unit, wherein the computer storage medium can store a computer program, and the computer program can run the invention content and part or all steps in each embodiment of the folding wing unfolding drive method of the cluster UAV when executed by the data processing unit. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0082] Those skilled in the art can clearly understand that the technical solutions in the embodiments of the present application can be realized by means of a computer program and its corresponding general hardware platform. Based on such understanding, the technical solutions in the embodiments of the present application can be embodied in the form of a computer program, i.e. a software product, which can be stored in a storage medium, including a plurality of instructions for causing a device (which can be a personal computer, a server, a single-chip microcomputer, a MUU or a network device, etc.) containing a data processing unit to execute the method described in each embodiment or some parts of the embodiments of the present application.

[0083] The present application provides a folding wing unfolding drive system and method for a cluster UAV, and there are many methods and ways to realize the technical solutions. The above description is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled persons in the technical field, some improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be regarded as the protection scope of the present application. The components not explicitly described in the embodiments can be realized by using existing technology.

Claims

1. A method for driving the deployment of folding wings of a swarm of unmanned aerial vehicles (UAVs), the method being implemented based on a folding wing deployment driving system for swarm of UAVs, characterized in that... The system includes a gas cylinder (1), a solenoid valve (2), a cylinder assembly (3), and a transmission assembly (4); The system uses high-pressure gas as a power source, a solenoid valve (2) as a power control element, a gas cylinder (1) as a power storage element, and a cylinder assembly (3) as a power execution element. The cylinder assembly (3) includes a cylinder body (9) and a piston rod (10), and the cylinder body (9) is provided with an exhaust port (11); It also includes a locking assembly (5), a wing assembly (6), piping (7), and a wing pivot (8); The wing assembly (6) is connected to the wing pivot (8) by a rotational constraint, and the wing pivot (8) is fixedly connected to the fuselage; The transmission assembly (4) includes a power input end (12) and a power output end (13). The power input end (12) is fixedly connected to the end of the piston rod (10), and the power output end (13) is connected to the root rib protrusion (14) of the wing assembly (6) by rotational constraint. The method includes: establishing a wing deployment dynamics model containing a transmission component (4) and a wing component; establishing a mathematical model for solving high-pressure aerodynamic thrust; establishing a data interaction module; and realizing real-time data interaction between the wing deployment dynamics model and the mathematical model for solving high-pressure aerodynamic thrust through the data interaction module. In the wing deployment dynamics model, a fixed constraint is applied to the wing pivot, and a hinge rotation pair is set between the wing and the pivot; a sliding pair is applied to the power input end (12) of the transmission component (4) along the direction of motion, and a hinge rotation pair is applied at the hinge connection between the power output end (13) of the transmission component (4) and the wing; a Force is applied to the power input end (12) of the transmission component (4) as the driving force; the inertial interaction of the deployment drive system is set by the Gravity command; the wing deployment angle state variable and the driving force state variable are established by the state variable method, wherein the wing deployment angle state variable is obtained by the angle measurement function and output to the data interaction module by the output macro command, and the driving force state variable is obtained from the data interaction module by the input macro command; The high-pressure pneumatic thrust solution mathematical model refers to a mathematical model established based on the principles of gas thermodynamics, the law of conservation of energy and the law of conservation of mass, which describes the entire process of high-pressure gas being discharged from the cylinder (1), valve, cylinder (9) and from the cylinder (9), and the driving force generated on the piston rod (10). Based on the high-pressure pneumatic thrust solution mathematical model, a solution module is established and connected to the data interaction module in the form of a sub-function. Through the data interaction module, the displacement and velocity of the piston rod (10) are introduced into the pneumatic thrust sub-function, and the cylinder thrust calculated by the pneumatic thrust sub-function is output to the data interaction module. The aerodynamic thrust sub-function is obtained by solving the following formulas (1) to (5): The equation for the change in the mass of high-pressure air inside cylinder (1) is as follows: Where dt represents the derivative with respect to time t, and V1 is the volume of the gas cylinder; The equation for the energy change of the high-pressure air inside cylinder (1) is: The equation for the change in the mass of high-pressure air inside the cylinder (9) is as follows: The equation for the change of high-pressure air energy inside the cylinder (9) is: The formula for calculating the thrust F of the piston rod (10) inside the cylinder (9) is as follows: F=ρ1S (5) Where ρ1 is the density of the high-pressure air inside the gas cylinder (1); u1 and h1 are the specific thermodynamic energy and specific enthalpy of the high-pressure air inside the gas cylinder (1), respectively; u2 is the specific thermodynamic energy of the high-pressure air inside the cylinder (9); m2 is the mass of the high-pressure air inside the cylinder (9); Q m l1 is the mass flow rate of the gas at the throttle orifice; S is the effective thrust area of ​​the piston rod (10); l1 is the displacement of the piston rod (10); The mass flow rate equation for the gas at the throttling orifice is: (7) Where A is the equivalent flow area of ​​the solenoid valve; μ is the flow correction coefficient; k is the adiabatic coefficient; R g Let T be the gas constant, and T be the high-pressure air temperature inside cylinder (1). c p0 is the critical temperature of air, p1 is the high pressure of air inside the gas cylinder (1), and p1 is the high pressure of air inside the cylinder (9).

2. The method according to claim 1, characterized in that, The exhaust port (11) is located at the end of the ejection stroke of the piston rod (10). When the piston rod (10) reaches the designed ejection stroke, the exhaust port (11) is opened, and the high-pressure gas in the cylinder (9) is released into the atmosphere.

3. The method according to claim 2, characterized in that, The locking assembly (5) includes a locking pin assembly (15) and a limiting buffer assembly (16); The locking pin assembly (15) includes a sliding pin hole (17), a rectangular sliding pin (18), and a compression spring (19). The sliding pin hole (17) is fixedly connected to the fuselage of the UAV. The compression spring (19) is located between the sliding pin hole (17) and the rectangular sliding pin (18). The inner wall of the sliding pin hole (17) and the outer surface of the rectangular sliding pin (18) are provided with bosses, which can limit the maximum outward sliding of the rectangular sliding pin (18).

4. The method according to claim 3, characterized in that, The top surface of the rectangular sliding pin (18) is arc-shaped, and one side of the power input end (12) is lower than the other side. Before the power input end (12) reaches the rectangular sliding pin (18), the rectangular sliding pin (18) is in its maximum extended position under the action of the compression spring (19). When the power input end (12) reaches the rectangular sliding pin (18) and continues to move, the power input end (12) will squeeze the arc-shaped top surface of the rectangular sliding pin (18), and the rectangular sliding pin (18) will press... The compression spring (19) slides inward under the constraint of the sliding pin hole (17); when the power input end (12) passes the rectangular sliding pin (18) and begins to hit the limiting buffer assembly (16), the rectangular sliding pin (18) extends outward to the maximum position under the action of the compression spring (19), and the right side plane of the rectangular sliding pin (18) contacts the left side plane of the power input end (12), thereby locking the position of the power input end (12) and then locking the wing assembly (6).

5. The method according to claim 4, characterized in that, The limiting buffer assembly (16) is fixedly connected to the fuselage. When the piston rod (10) reaches the designed ejection stroke, the power input end (12) will hit the limiting buffer assembly (16). A shock-absorbing pad is provided on the impact surface of the limiting buffer assembly (16).

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