Wing folding and unfolding mechanism suitable for vertical take-off and landing aircraft and unmanned aerial vehicle

Abstract

The invention discloses a wing folding and unfolding mechanism suitable for a vertical take-off and landing aircraft. The wing folding and unfolding mechanism comprises a base structure; a folding and unfolding execution mechanism; the folding and unfolding executing mechanism comprises a first revolute pair, a second revolute pair and a driving rod piece, the wing is divided into a spar part and a blade part, the inner side of the spar part is arranged on the base structure through the first revolute pair and can horizontally rotate on the base structure in the x-y axis, and the outer side of the spar part is connected with the driving rod piece through the second revolute pair; the second revolute pair is provided with a through hole in the x-axis direction, the driving rod piece penetrates through the through hole to form clearance fit, and the first revolute pair serves as a fixed fulcrum, and folding and unfolding movement of the wing in the x-y axis is achieved through movement of the driving rod piece in the y-axis direction; a servo transmission mechanism; the servo transmission mechanism is arranged on the base structure and drives the driving rod piece to move on the y axis. By adopting the structure, the wings of the unmanned aerial vehicle can be stably and quickly folded and unfolded.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a wing folding mechanism suitable for a vertical take-off and landing aircraft and an unmanned aerial vehicle. Background Art

[0002] With the rapid development of UAV technology, various small and lightweight UAVs have been widely used. Especially in the fields of military reconnaissance, environmental monitoring, logistics and distribution, higher requirements are placed on the range, load capacity, maneuverability, etc. of UAVs. In order to meet these requirements, a folding mechanism that can realize wing folding and unfolding has become an important part of UAV design. However, the folding mechanism in the prior art still has many shortcomings in practical applications.

[0003] The folding mechanism in the prior art is usually complex in design, involving the precise coordination of multiple mechanical parts, difficult to manufacture, and the overall structure is relatively bulky. The complex structure has low transmission efficiency during operation, and there is a large loss in the energy transfer process, which affects the endurance of the drone. In addition, the numerous mechanical parts also increase the weight of the entire system, directly limiting the range and load capacity of the drone.

[0004] In terms of stability, existing folding mechanisms often perform poorly when faced with high loads or long-term use. Since stress distribution and dynamic loads are not fully considered in the design, the structure is prone to deformation or loosening during the unfolding process, affecting the flight stability of the drone. Especially in high-speed flight or complex environments, lack of stability may cause the flight path to deviate and even bring safety hazards.

[0005] Therefore, the existing folding mechanism has obvious limitations in terms of structural complexity, transmission efficiency, deadweight, stability, etc., and it is difficult to meet the requirements of modern UAVs for light weight, high performance, and high stability. Improving these technical shortcomings to simplify the structure, improve transmission efficiency, reduce weight, and enhance stability has become an urgent need for the current design of UAV folding mechanisms. Summary of the invention

[0006] Purpose of the invention: In order to overcome the shortcomings of the background technology, the first purpose of the present invention is to disclose a wing folding mechanism suitable for a vertical take-off and landing aircraft;

[0007] The second purpose is to disclose a UAV that uses the above-mentioned wing folding mechanism to drive the wings.

[0008] Technical solution: The wing folding and spreading mechanism suitable for a vertical take-off and landing aircraft of the present invention comprises:

[0009] Base structure;

[0010] A folding and unfolding actuator; the folding and unfolding actuator comprises a first rotating pair, a second rotating pair and an active rod, the wing is divided into a spar part and a blade part, the inner side of the spar part is arranged on the base structure through the first rotating pair, and can be horizontally rotated in the xy axis on the base structure, the outer side of the spar part is connected to the active rod through the second rotating pair, the second rotating pair is provided with a through hole in the x-axis direction, the active rod passes through the through hole to form a clearance fit, the first rotating pair is used as a fixed fulcrum, and the folding and unfolding movement of the wing in the xy axis is realized by the movement of the active rod in the y-axis direction;

[0011] Servo transmission mechanism; the servo transmission mechanism is placed on the base structure and drives the active rod to move on the y-axis.

[0012] Furthermore, the base structure includes a fuselage base, a base connecting rod and a wing spar base, the wing spar base is fixed to the fuselage base through the base connecting rod, and the first revolving pair is placed on the wing spar base.

[0013] Further, the first rotation pair includes a cylindrical rotating shaft, which passes through the wing spar portion, the gasket, and the wing spar base in sequence and is fastened by a first nut, and the cylindrical rotating shaft and the wing can rotate relative to each other;

[0014] The second rotation pair includes a latch shaft, the cylindrical part of which is coaxially matched with the cylindrical hole on the wing beam to form a rotation pair and is fastened by a second nut. The latch shaft and the wing can rotate relative to each other. A through hole in the x-axis direction is provided at a protruding part of the latch shaft, which forms a clearance match with the active rod, so that the latch shaft can move horizontally along the active rod.

[0015] Further, when the active rod moves to the same y-axis position as the first revolute pair, the wing is located in the x-axis direction and is in a fully deployed state;

[0016] When the active rod moves to the farthest distance from the first revolute pair, the wing is located in the y-axis direction and is in a fully folded state.

[0017] Furthermore, the servo transmission mechanism includes a servo motor, a rocker arm, and a transmission rod. The servo motor is arranged on the base structure, and its driving end is connected to the middle part of the rocker arm. The two ends of the transmission rod are respectively rotatably connected to the active rod and one end of the rocker arm.

[0018] When the servo motor is started, the crank-connecting rod mechanism composed of the rocker arm and the transmission rod converts the rotation of the servo motor into the translational motion of the end of the transmission rod through coaxial cooperation, and further converts it into the translational motion of the active rod in the y-axis direction through the coaxial cooperation between the transmission rod and the active rod, thereby realizing the folding and unfolding movement of the wing.

[0019] Furthermore, the rocker arm and the transmission rod are at a dead point when they are in the same straight line.

[0020] Furthermore, two second rotation pairs are connected to one active rod, thereby controlling a pair of wings at the same time.

[0021] Furthermore, when the servo motor drives the rocker arm to rotate at a constant speed, the distance h that the active rod in the folding and unfolding actuator moves in the y direction is:

[0022] h=a+bl

[0023] l=αcosα+bcosβ

[0024] Where a is half of the length of the rocker arm, b is the length of the transmission rod, α is the angle between the rocker arm and the negative direction of the y-axis, and β is the angle between the transmission rod and the positive direction of the y-axis; and b>α, β∈(0°, 90°);

[0025] H is the distance between the active rod and the position of the active rod when the wing is fully extended. When the servo motor drives the rocker to rotate at a constant speed, H satisfies the relationship:

[0026] H=H0-h

[0027] Wherein, H0 is the distance between the active rod in the fully folded state of the wing and the active rod in the fully unfolded state of the wing; and satisfies H∈(0,H0);

[0028] The folding angle η is the angle between the wing spar and the positive direction of the y-axis. When the servo motor drives the rocker to rotate at a constant speed, the folding angle η satisfies the relationship:

[0029] H=x·tanη

[0030] Where x is the moving distance of the bolt shaft on the active rod; and satisfies η∈(0°, 90°);

[0031] The angle between the wing beam portion and the positive direction of the y-axis is the folding angle η. When η=0°, the wing is defined to be in a fully folded state; when η∈(0°, 90°), the wing is defined to be in a folding and unfolding process; when η=90°, the wing is defined to be in a fully expanded state; when the wing is in the folding and unfolding process, a single active rod controls the rotation of a pair of wings; when the wing is in a fully expanded state, the servo motor stops driving, the rocker arm and the transmission rod are in a dead point position, and the wing is also fixed.

[0032] A UAV, whose wings are driven by the wing folding and spreading mechanism suitable for vertical take-off and landing aircraft.

[0033] Beneficial effects: Compared with the prior art, the advantages of the present invention are: it can realize stable and rapid folding and unfolding of the UAV wings; when the servo transmission device stops working, the rocker arm and the transmission rod are in the dead point position and no longer move relative to the fuselage, thereby ensuring the stability of the wings after folding or unfolding; a single active rod can control the rotation of a pair of wing spars, thereby ensuring that the folding and unfolding mechanism has a simple structure, few parts, light weight, small size, high transmission efficiency, and a large wing load. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic diagram of the wing of the present invention when it is in a fully folded state;

[0035] Figure 2 is a schematic diagram of the wing of the present invention when it is in a fully expanded state;

[0036] Figure 3 is a schematic diagram of the wing of the present invention when it is in the folding and unfolding process;

[0037] Figure 4 It is a schematic diagram of the structure in which an active rod member of the present invention controls a pair of wings at the same time. DETAILED DESCRIPTION

[0038] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0039] like Figure 1-3 The wing folding mechanism suitable for a vertical take-off and landing aircraft shown includes:

[0040] A base structure, wherein the wing unfolding direction on the base structure is the x-axis direction, and the folding direction is the y-axis direction; the base structure comprises a fuselage base 3, a base connecting rod 4 and a wing beam base 5, the wing beam base 5 is fixed to the fuselage base 3 through the base connecting rod 4, and the first rotation pair is placed on the wing beam base 5.

[0041] A folding and unfolding actuator; the folding and unfolding actuator comprises a first rotating pair, a second rotating pair and an active rod 1, the wing 2 is divided into a spar part and a blade part, the inner side of the spar part is arranged on the base structure through the first rotating pair, and can be horizontally rotated in the xy axis on the base structure, and the outer side of the spar part is connected to the active rod 1 through the second rotating pair, the second rotating pair is provided with a through hole in the x-axis direction, and the active rod 1 passes through the through hole to form a clearance fit, with the first rotating pair as a fixed fulcrum, and the folding and unfolding movement of the wing 2 in the xy axis is realized by the movement of the active rod 1 in the y-axis direction;

[0042] The first rotation pair includes a cylindrical shaft 6, which passes through the wing spar portion, the gasket 7, and the wing spar base 5 in sequence and is fastened by a first nut 9. The cylindrical shaft 6 and the wing 2 can rotate relative to each other;

[0043] The second rotation pair includes a latch shaft 10, the cylindrical part of which is coaxially matched with the cylindrical hole on the wing beam to form a rotation pair and is fastened by a second nut 8. The latch shaft 10 and the wing 2 can rotate relative to each other. The latch shaft 10 is provided with a through hole in the x-axis direction at a protruding part, which forms a clearance fit with the active rod 1, so that the latch shaft can move horizontally along the active rod.

[0044] When the active rod 1 moves to the same y-axis position as the first revolute pair, the wing 2 is located in the x-axis direction and is in a fully deployed state;

[0045] When the active rod 1 moves to the farthest distance from the first revolute pair, the wing 2 is located in the y-axis direction and is in a fully folded state.

[0046] Servo transmission mechanism; the servo transmission mechanism is placed on the base structure to drive the active rod 1 to move on the y-axis. The servo transmission mechanism includes a servo motor 11, a rocker arm 12, and a transmission rod 13. The servo motor 11 is arranged on the base structure, and its driving end is connected to the middle of the rocker arm 12. The two ends of the transmission rod 13 are rotatably connected to the active rod 1 and one end of the rocker arm 12 respectively; when the servo motor 11 is started, the crank-connecting rod mechanism composed of the rocker arm 12 and the transmission rod 13 converts the rotation of the servo motor into the translation of the end of the transmission rod 13 through coaxial cooperation, and further converts it into the translation of the active rod in the y-axis direction through the coaxial cooperation between the transmission rod 13 and the active rod 1, thereby realizing the folding and unfolding movement of the wing.

[0047] When the rocker arm 12 and the transmission rod 13 are in the same straight line, they are at the dead point position. Two second rotation pairs are connected to one active rod 1, and a pair of wings 2 are controlled at the same time. Figure 4 shown.

[0048] When the servo motor drives the rocker to rotate at a constant speed, the distance h that the active rod in the folding and unfolding actuator moves in the y direction is:

[0049] h=a+bl

[0050] l=acosα+bcosβ

[0051] Among them, a is half of the length of the rocker arm, b is the length of the transmission rod, α is the angle between the rocker arm and the negative direction of the y-axis, and β is the angle between the transmission rod and the positive direction of the y-axis; and b>a, β∈(0°, 90°).

[0052] H is the distance between the active rod and the position of the active rod when the wing is fully extended. When the servo motor drives the rocker to rotate at a constant speed, H satisfies the relationship:

[0053] H=H0-h

[0054] Among them, H0 is the distance between the active rod in the fully folded state of the wing and the active rod in the fully unfolded state of the wing; and satisfies H∈(0,H0).

[0055] The folding angle η is the angle between the wing spar and the positive direction of the y-axis. When the servo motor drives the rocker to rotate at a constant speed, the folding angle η satisfies the relationship:

[0056] H=x·tanη

[0057] Where x is the moving distance of the bolt shaft on the active rod; and satisfies η∈(0°, 90°)

[0058] The angle between the wing spar portion and the positive direction of the y-axis is the folding angle η.

[0059] like Figure 1 As shown, when η = 0°, the wing is defined to be in a fully folded state;

[0060] like Figure 3 As shown, when η∈(0°, 90°), the wing is defined to be in the process of folding and spreading;

[0061] like Figure 2 As shown, when η=90°, the wing is defined as being in a fully extended state; when the wing is in the process of folding and unfolding, a single active rod can control the rotation of a pair of wings; when the wing is in a fully extended state, the servo motor will stop driving, the rocker arm and the transmission rod will be in a dead point position, and the wing will be fixed at the same time, and the rocker arm will not reverse even if the wing is subjected to a large force.

[0062] When the active rod 1 and the wing are perpendicular to each other, and the rocker arm 12 and the transmission rod 13 are in a straight line, the wing is in a fully folded state. At this time, the distance H between the active rod 1 and the position of the active rod when the wing 2 is fully expanded is the maximum value, and the moving distance x of the latch shaft 10 on the active rod is 0. When the active rod 1 and the wing 2 are located on the same straight line, and the rocker arm 12 coincides with the transmission rod 13, the wing is in a fully expanded state. At this time, the distance H between the active rod 1 and the position of the active rod 1 when the wing is fully expanded is 0, and the moving distance x of the latch shaft 10 on the active rod reaches the maximum value. Different specifications of the wing can be selected, and the size of the folding angle η when the wing is in a fully folded state may need to be redefined to adapt to the deadweight and volume of the new wing.

[0063] The folding wing unfolding working process: before the drone takes off, the wing is in a fully folded state, the distance H between the active rod 1 and the position of the active rod 1 in the fully unfolded state is the maximum value, the moving distance x of the latch shaft 10 on the active rod is 0, and the rocker arm 12 and the transmission rod 13 are in a straight line; when the drone is ejected into the air, the built-in chip sends a wing unfolding command, and the servo motor 11 starts working. Driven by the servo motor 11, the crank connecting rod device will drive the active rod 1 to move at a uniform speed in the positive direction of the y-axis, thereby driving the latch shaft 10 on the active rod 1 At the same time, it moves in the positive direction of the y-axis. Since the position of the latch shaft 10 on the wing 2 is fixed, and the wing 2 is coaxially matched with the cylindrical shaft 6, the active rod 1 drives the latch shaft 10 to rotate around the cylindrical shaft 6. The latch shaft 10 also drives the wing 2 to rotate around the cylindrical shaft 6 to achieve wing deployment. When H is 0, that is, the active rod 1 and the wing 2 are located on the same straight line, and the rocker arm 12 coincides with the transmission rod 13, the motor stops driving and the active rod 1 stops moving. At this time, x reaches the maximum value, the wing spar is fixed, and the wing is in a fully deployed state.

[0064] Folding wing folding process: the folding wing is initially in a fully unfolded state, the distance H between the active rod 1 and the position of the active rod 1 when the wing is fully unfolded is 0, the moving distance x of the latch shaft 10 on the active rod reaches the maximum value, and the rocker arm 12 coincides with the transmission rod 13; the external remote control sends a wing folding command, and the servo motor 11 starts to work in the opposite direction. Driven by the servo motor 11, the crank connecting rod device will drive the active rod 1 to move at a uniform speed in the negative direction of the y-axis, thereby driving the latch shaft 10 to move in the opposite direction on the active rod 1. At the same time, it moves in the negative direction of the y-axis. Since the position of the latch shaft 10 on the wing 2 is fixed, and the wing 2 and the cylindrical shaft 6 are coaxially matched, the active rod 1 drives the latch shaft 10 to rotate around the cylindrical shaft 6. The latch shaft 10 also drives the wing 2 to rotate around the cylindrical shaft 6 to achieve wing folding. When H reaches the maximum, that is, the active rod 1 and the wing 2 are perpendicular to each other, and the rocker arm 12 and the transmission rod 13 are in a straight line, the motor stops driving, and the active rod 1 stops moving. At this time, x returns to zero, the wing spar is fixed, and the wing is in a fully folded state.

Claims

1. A wing folding mechanism suitable for a vertical take-off and landing aircraft, characterized in that: include: Base structure; Folding and expansion executive agency; The folding and unfolding actuator comprises a first rotating pair, a second rotating pair and an active rod (1); the wing (2) is divided into a wing beam part and a blade part; the inner side of the wing beam part is arranged on the base structure through the first rotating pair and can be horizontally rotated within the xy axis on the base structure; the outer side of the wing beam part is connected to the active rod (1) through the second rotating pair; the second rotating pair has a through hole in the x-axis direction, the active rod (1) passes through the through hole to form a clearance fit, and the first rotating pair is used as a fixed fulcrum, and the folding and unfolding movement of the wing (2) in the xy axis is realized by the movement of the active rod (1) in the y-axis direction; A servo transmission mechanism is placed on the base structure to drive the active rod (1) to move on the y-axis.

2. The wing folding mechanism for a vertical take-off and landing aircraft according to claim 1, characterized in that: The base structure comprises a fuselage base (3), a base connecting rod (4) and a wing spar base (5); the wing spar base (5) is fixed to the fuselage base (3) via the base connecting rod (4); and the first rotation pair is placed on the wing spar base (5).

3. The wing folding and spreading mechanism for a vertical take-off and landing aircraft according to claim 1, characterized in that: The first rotation pair comprises a cylindrical rotating shaft (6), which passes through the wing spar portion, the gasket (7), and the wing spar base (5) in sequence and is fastened by a first nut (9), and the cylindrical rotating shaft (6) and the wing (2) can rotate relative to each other; The second rotation pair comprises a latch shaft (10), the cylindrical portion of the latch shaft (10) being coaxially matched with the cylindrical hole on the wing beam portion to form a rotation pair and being fastened by a second nut (8), the latch shaft (10) and the wing (2) being relatively rotatable, the latch shaft (10) being provided with a through hole in the x-axis direction at a protruding portion, forming a clearance match with the active rod (1), so that the latch shaft can move in translation along the active rod.

4. The wing folding mechanism for a vertical take-off and landing aircraft according to claim 1, characterized in that: When the active rod (1) moves to the same y-axis position as the first rotation pair, the wing (2) is located in the x-axis direction and is in a fully deployed state; When the active rod (1) moves to the farthest distance from the first rotation pair, the wing (2) is located in the y-axis direction and is in a completely folded state.

5. The wing folding and spreading mechanism suitable for a vertical take-off and landing aircraft according to claim 3, characterized in that: The servo transmission mechanism comprises a servo motor (11), a rocker arm (12), and a transmission rod (13); the servo motor (11) is arranged on a base structure, a driving end of the servo motor (11) is connected to the middle of the rocker arm (12), and two ends of the transmission rod (13) are rotatably connected to the active rod (1) and one end of the rocker arm (12) respectively; When the servo motor (11) is started, the crank-connecting rod mechanism composed of the rocker arm (12) and the transmission rod (13) converts the rotation of the servo motor into the translational motion of the end of the transmission rod (13) through coaxial cooperation, and further converts it into the translational motion of the active rod in the y-axis direction through the coaxial cooperation between the transmission rod (13) and the active rod (1), thereby realizing the folding and unfolding movement of the wing.

6. The wing folding mechanism for a vertical take-off and landing aircraft according to claim 5, characterized in that: The rocker arm (12) and the transmission rod (13) are at a dead point when they are on the same straight line.

7. The wing folding and spreading mechanism for a vertical take-off and landing aircraft according to claim 1, characterized in that: Two second rotation pairs are connected to an active rod (1) to simultaneously control a pair of wings (2).

8. The wing folding mechanism for a vertical take-off and landing aircraft according to claim 6, characterized in that: When the servo motor (11) drives the rocker arm (12) to rotate at a constant speed, the distance h that the active rod (1) in the folding and unfolding actuator moves in the y direction is: h=a+bl l=acosα+bcosβ Wherein, a is half of the length of the rocker arm (12), b is the length of the transmission rod (13), α is the angle between the rocker arm (12) and the negative direction of the y-axis, and β is the angle between the transmission rod (13) and the positive direction of the y-axis; and b>a, β∈(0°, 90°); H is the distance between the active rod (1) and the position of the active rod (1) when the wing is fully extended. When the servo motor (11) drives the rocker arm (12) to rotate at a constant speed, H satisfies the relationship: H=H0-h Wherein, H0 is the distance between the active rod (1) in the fully folded state of the wing and the active rod (1) in the fully unfolded state of the wing; and satisfies H∈(0, H0); The folding angle η is the angle between the wing spar portion and the positive direction of the y-axis. When the servo motor (11) drives the rocker arm (12) to rotate at a constant speed, the folding angle η satisfies the relationship: H=x·tanη Wherein, x is the moving distance of the latch shaft (10) on the active rod; and satisfies η∈(0°, 90°); The angle between the wing beam portion and the positive direction of the y-axis is the folding angle η. When η=0°, the wing is defined as being in a completely folded state; when η∈(0°, 90°), the wing is defined as being in a folding and unfolding process; when η=90°, the wing is defined as being in a completely unfolded state; when the wing is in the folding and unfolding process, a single active rod (1) controls the rotation of a pair of wings; when the wing is in a completely unfolded state, the servo motor (11) stops driving, the rocker arm (12) and the transmission rod (13) are in a dead point position, and the wing is also fixed.

9. A drone, characterized in that: The wings are driven by the wing folding and spreading mechanism suitable for vertical take-off and landing aircraft as described in claim 1.

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