A lockable variable sweep angle wing for unmanned aerial vehicle and unmanned aerial vehicle

Abstract

The present invention belongs to the technical field of unmanned aerial vehicles, and specifically discloses a lockable variable sweep angle wing of an unmanned aerial vehicle and an unmanned aerial vehicle, comprising two wing bodies, a chuck connected to the fuselage of the unmanned aerial vehicle, and two groups of driving units arranged on the chuck for driving the two wing bodies to unfold and retract respectively; one end of the two wing bodies is connected to a wing rotating plate, and the two wing rotating plates are respectively rotatably matched with the two sides of the chuck, and the wing rotating plate is connected to a wing wire roller; the driving unit comprises a power member, a retractable wire roller and a rope, the retractable wire roller is connected to the output end of the power member, the rope bypasses the retractable wire roller and the wing wire roller to form a closed loop, and the power member drives the retractable wire roller to rotate forward or reverse to realize retracting or releasing, thereby pulling the wing body to unfold or retract. The present invention can meet the function of repeated unfolding and recovery of the wings of the unmanned aerial vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a lockable variable sweep angle wing of an unmanned aerial vehicle and an unmanned aerial vehicle. Background Art

[0002] With the development of aerospace technology and the evolution of modern warfare, unmanned aerial vehicles are becoming more and more important. The concept of variable-sweep wings appeared earlier. During its development, researchers have tried various directions. There are generally two ways of deployment: torsion spring ejection and motor deployment. The research on the retraction mechanism is less than that on the deployment mechanism, and motor retraction is more often used. From the current results, there is less research on the realization of continuous variable-sweep wings.

[0003] The requirements for rapid wing deployment, repeated deployment and retraction, variable speed range, and easy recovery have driven industry researchers to study UAV structures, especially wing structures, and variable-sweep wing structures are the most prominent. Most of the existing variable-sweep wing mechanisms have the function of rapid deployment, and a small number have the function of retraction, but all of them cannot meet the functional requirements of repeated deployment and deployment to a specific angle. Summary of the invention

[0004] The invention provides a lockable variable sweep angle wing of a UAV and a UAV, aiming to meet the function of repeated deployment and recovery of the UAV wing.

[0005] The present invention is implemented by the following technical solutions: A lockable variable sweep angle wing of a drone, comprising two wing bodies, a chuck connected to the drone fuselage, and two sets of drive units arranged on the chuck for driving the two wing bodies to unfold and retract respectively;

[0006] One end of the two wing bodies is connected to a wing rotating plate, the two wing rotating plates are respectively rotatably matched with the two sides of the chuck, and the wing rotating plates are connected to a wing line roller;

[0007] The driving unit includes a power component, a retractable wire roller and a rope. The retractable wire roller is connected to the output end of the power component. The rope passes around the retractable wire roller and the wing wire roller to form a closed loop. The power component drives the retractable wire roller to rotate forward or reverse to achieve retracting or releasing the wire, thereby pulling the wing body to unfold or retract.

[0008] Compared with the prior art, this solution has the following advantages and beneficial effects:

[0009] The UAV continuous variable sweep wing mechanism of this solution relies on the power parts to drive the rope to be retracted and released to realize the rotation drive of the structure. In this solution, the wing body realizes the rotation coordination between the chuck and the wing turn plate, and the driving unit drives the take-up line roller to rotate through the driving force parts, thereby realizing the function of taking up and releasing the line. The rope can drive the wing body to rotate and unfold when releasing the line, and the rope can drive the wing body to rotate and retract when retracting the line. This solution can control the rotation angle of the wing by the amplitude of the rope's release and retraction, and can meet the function of repeated deployment and recovery of the UAV wing.

[0010] Furthermore, the chuck is provided with two sets of crank slider mechanisms, the two sets of crank slider mechanisms are respectively arranged close to the two wing rotating plates, and the crank slider mechanisms are located between the driving unit and the wing rotating plate;

[0011] The crank slider mechanism includes a crank, a connecting rod, a connecting rod, a transition line roller and a slider. Slideways are connected to both sides of the chuck along the length direction of the chuck. The connecting rod is vertically connected to the chuck. One end of the crank is rotatably connected to the connecting rod, one end of the connecting rod is rotatably connected to the other end of the crank, and the other end of the connecting rod is rotationally matched with the transition line roller. The slider is connected to the bottom of the transition line roller, and the slider is slidably matched with the slideway; the rope wound around the retractable line roller passes through the transition line roller and is wrapped around the wing line roller to form a closed loop.

[0012] Beneficial effects: The crank slider mechanism in this solution can limit the rotation of the wing rotating plate, so that the wing rotating plate can rotate smoothly, and the UAV has higher stability in the whole process of continuous variable wing sweep.

[0013] In this scheme, the movement of the crank slider mechanism is synchronized with the rotation of the wing body. The cooperation between the slider and the slideway enables the position of the transition line to be adjusted with the help of the change in the position of the slider during the entire deployment and retraction process, so that the rope is perpendicular to the current position of the wing body. When the crank and the connecting rod are in line, the slider reaches the extreme points on both sides, which can realize the conversion from rotational motion to continuous sliding.

[0014] Furthermore, the wing rotating plate and the chuck are rotationally connected via a rotating shaft, a first gear is coaxially connected to the rotating shaft, a second gear is coaxially connected to the top of the connecting rod, and the first gear and the second gear are meshed with each other.

[0015] Beneficial effect: The cooperation between the first gear and the second gear in this solution can improve the reliability and stability of the cooperation between the wing turn plate and the crank slider mechanism, and make the rotation process of the wing turn plate smoother, thereby improving the smoothness of the wing body when it is unfolded or retracted.

[0016] Furthermore, the wing rotating plate is rotatably connected to the chuck via a rotating shaft, and an encoder capable of monitoring the rotation angle of the wing rotating plate is installed on the rotating shaft.

[0017] Beneficial effects: The present invention can control the operation of the motor by monitoring the change of the wing angle through the encoder, and can realize the accurate realization of the wing conversion position.

[0018] Furthermore, it also includes locking mechanisms for locking the two wing rotating plates respectively;

[0019] Semicircular slide grooves are provided on both sides of the chuck, one side of the slide groove is an inner ring, and the other side of the slide groove is an outer ring;

[0020] The locking mechanism comprises a moving part, an inner ring electromagnet, an outer ring electromagnet and a plurality of retaining grooves provided on the side wall of the outer ring, wherein the plurality of retaining grooves are distributed along the circumference of the outer ring;

[0021] The inner ring electromagnet and the outer ring electromagnet are respectively installed on the top of the inner ring and the outer ring of the slideway;

[0022] The moving member comprises a moving rod and a moving plate, wherein the moving rod is vertically connected to the moving plate, the moving plate is located on the top of the wing turning plate and is slidably matched with the wing turning plate along the length direction of the wing turning plate, a moving hole is provided on the wing turning plate, one end of the moving rod passes through the moving hole and is located in the slide groove, and the moving rod can move horizontally in the moving hole;

[0023] The moving rod is a metal rod. When the outer ring electromagnet is energized and the inner ring electromagnet is de-energized, the moving rod can be attracted to move the moving rod into the retaining groove on the outer ring side wall for locking. When the outer ring electromagnet is de-energized and the inner ring electromagnet is energized, the moving rod can be attracted to move the moving rod to the inner ring side wall for unlocking.

[0024] Beneficial effect: In the locking mechanism of the present scheme, the attraction and disconnection with the moving rod are achieved by turning on and off the inner ring electromagnet and the outer ring electromagnet. When the inner ring electromagnet is energized and the outer ring electromagnet is de-energized, the inner ring electromagnet will attract the moving rod to move to the inner ring side wall of the moving groove. At this time, it is in the unlocked state, and the driving unit can drive the wing turntable to rotate, and the moving rod will move along the smooth side wall of the inner ring. When the wing body rotates to the specified angle, the inner ring electromagnet is de-energized and the outer ring electromagnet is energized, the outer ring electromagnet will attract the moving rod to move toward the outer ring direction and get stuck in the stop groove, thereby achieving locking. At this time, it can work together with the outer ring electromagnet to enhance the locking effect on the wing body, thereby ensuring the stability of the locked state of the wing body.

[0025] The UAV continuous variable sweep wing mechanism of this scheme has high stability, and the locking mechanism can ensure that the wing structure will not randomly change the sweep angle due to being out of control when there is no need to change the sweep wing. The lock is only released when the wing body is ejected from the retracted state just after launch and when the drive unit drives the wing turn plate to actuate during flight.

[0026] The UAV continuous variable sweep wing mechanism of this scheme has a dual locking function. It can not only rely on the stop of the rope and the motor for initial locking, but also use the stop groove on the inner wall of the outer ring and the limit of the moving rod as a structural rigid lock, and has the ability to achieve continuous variable sweep wings under a given division.

[0027] Furthermore, the wing turning plate is connected to slide rails on both sides of the moving hole, and the bottom of the moving plate is connected to pulleys on both sides. The pulleys on both sides of the bottom of the moving plate are respectively located in the slide rails on both sides of the moving hole and slide in cooperation with the slide rails.

[0028] Beneficial effect: The cooperation of the slide rail and the pulley in this solution can guide the moving plate connected to the moving rod, so that the moving plate and the moving rod can move in a straight line, so that the moving rod and the stop groove can be accurately matched, and the pulley can reduce the friction resistance between the moving plate and the slide rail.

[0029] Furthermore, the inner ring electromagnet and the outer ring electromagnet are both a complete arc-shaped electromagnet or are both composed of a plurality of electromagnets spaced apart and distributed along the arc-shaped direction of the slide groove.

[0030] Beneficial effect: In this scheme, when the inner ring electromagnet and the outer ring electromagnet are a complete arc-shaped electromagnet, the installation is faster. If the inner ring electromagnet and the outer ring electromagnet are composed of multiple electromagnets spaced along the arc direction, the inner ring electromagnet and the outer ring electromagnet form multiple intermittent electromagnets. Compared with the whole electromagnet, this scheme can reduce weight, thereby making the entire structure lighter and more in line with the lightweight requirements of drones.

[0031] Furthermore, a first electromagnet and a second electromagnet are respectively provided on the two inner walls of the movable hole, the first electromagnet is close to the outer ring, and the second electromagnet is close to the inner ring; the first electromagnet is consistent in power-on and power-off states with the outer ring electromagnet, and the second electromagnet is consistent in power-on and power-off states with the inner ring electromagnet.

[0032] Beneficial effect: In this solution, a first electromagnet and a second electromagnet are further provided in the movable hole, which can further enhance the adsorption effect on the movable rod. The first electromagnet and the second electromagnet can respectively cooperate with the outer ring electromagnet and the inner ring electromagnet to enhance the adsorption force on the movable rod and enhance the locking effect, further avoiding the loss of control and the change of sweeping angle, thereby further improving the stability of the entire structure.

[0033] Furthermore, one side of the retractable line roller and the wing line roller are both connected to a limiting column, and the rope passes around the limiting columns on the retractable line roller and the wing line roller respectively.

[0034] Beneficial effect: After the rope passes over the limit columns on the retractable line roller and the wing line roller, the stability of the rope under unidirectional force can be guaranteed to prevent slipping.

[0035] A drone comprises a drone fuselage, on which a lockable drone variable sweep angle wing is installed.

[0036] Beneficial effect: During the flight of the UAV, the wing sweep angle is controlled by rope drive and electromagnetic locking, which can meet the requirements of rapid and reliable sweep angle change of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0038] Figure 1 It is an overall schematic diagram of an embodiment of a lockable variable sweep angle wing of a UAV of the present invention;

[0039] Figure 2 A three-dimensional diagram of the cooperation between a single wing body and a chuck in an embodiment of a lockable variable sweep angle wing of a drone of the present invention;

[0040] Figure 3 It is a partial schematic diagram of an embodiment of a lockable variable sweep angle wing of a UAV of the present invention;

[0041] Figure 4 It is a partial schematic diagram of a chuck in an embodiment of a lockable variable sweep angle wing of a UAV of the present invention;

[0042] Figure 5 A three-dimensional diagram of a wing body and a wing rotating plate in an embodiment of a lockable variable sweep angle wing of a UAV of the present invention;

[0043] Figure 6 A three-dimensional diagram of a moving part in an embodiment of a lockable variable sweep angle wing of a drone of the present invention;

[0044] Figure 7 A three-dimensional diagram of the interconnection between a power part and a retractable wire roller in an embodiment of a lockable variable sweep angle wing of a UAV of the present invention;

[0045] Figure 8 It is a partial schematic diagram of the retracting and releasing wire roller in an embodiment of a lockable variable sweep angle wing of a UAV of the present invention;

[0046] Fig. 9 A three-dimensional diagram of the interconnection between the transition line roller and the slider in an embodiment of a lockable variable sweep angle wing of a UAV of the present invention;

[0047] Fig.10 A three-dimensional diagram of a lockable variable sweep angle wing of a drone in an embodiment of the present invention after the wing body is unfolded;

[0048] Fig.11 A top view of a lockable variable sweep angle wing of a drone according to the present invention after the wing body is retracted;

[0049] Fig.12 This is a top view of the unfolded wing body of a lockable variable sweep angle wing of a UAV in the present invention.

[0050] Marks and corresponding parts names in the attached drawings:

[0051] 1. chuck, 11. mounting groove, 12. inner ring, 13. stop groove, 14. rotating shaft, 15. encoder, 16. inner ring electromagnet, 17. outer ring electromagnet, 18. torsion spring;

[0052] 2. Drive unit, 21. Motor, 22. Retractable wire roller, 24. Motor seat, 25. Gear reducer, 26. Limit column;

[0053] 3. wing body, 32. shaft hole, 33. first electromagnet, 34. wing rotating plate, 35. wing wire roller, 36. second electromagnet, 37. slide rail;

[0054] 4. moving member, 41. pulley, 42. moving rod, 43. moving plate;

[0055] 5. Gear set, 51. first gear, 52. second gear;

[0056] 6. Crank slider mechanism, 61. crank, 62. connecting rod, 63. connecting rod;

[0057] 7. Slideway, 8. Transition line roller, 81. Slider. DETAILED DESCRIPTION

[0058] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0059] like Figure 1-Figure 12As shown, this embodiment provides a lockable UAV variable sweep angle wing, including two wing bodies 3, a chuck 1 vertically connected to the UAV fuselage, and two groups of drive units 2 arranged on the chuck 1, which are respectively used to drive the two wing bodies 3 to unfold and retract.

[0060] In this embodiment, the wing body 3 is parallel to the drone fuselage in the initial state. Figure 3 , Figure 4 and Figure 5 As shown, one end of the two wing bodies 3 is connected to a wing rotating plate 34, and the two wing rotating plates 34 are respectively rotatably matched with the two sides of the chuck 1. In this embodiment, the wing rotating plate 34 is rotatably connected to the chuck 1 through the rotating shaft 14, that is, the above-mentioned rotating shaft 14 is vertically connected to the chuck 1, and the end of the wing rotating plate 34 away from the wing body 3 is provided with an axis hole 32, and the axis hole 32 of the wing rotating plate 34 penetrates the rotating shaft 14 and is coaxially rotatably connected with the rotating shaft 14. The wing rotating plate 34 is connected to a wing wire roller 35, and the wing wire roller 35 is vertically welded or screwed to the top of the wing rotating plate 34.

[0061] like Figure 4 As shown, in this embodiment, a torsion spring 18 is sleeved on the outside of the rotating shaft 14, and the torsion spring 18 is located between the wing rotating plate 34 and the chuck 1, one end of the torsion spring 18 is embedded in the chuck 1, and the other end of the torsion spring 18 is embedded in the bottom of the wing rotating plate 34. The strength of the torsion spring 18 needs to match the strength of the rope used for traction to ensure the smooth progress of the winding and ejecting process. The torsion spring 18 is compressed when the drone is stored, and it is ejected when the drone is launched, so that the torsion spring 18 is released and the wings are unfolded. This is the first unfolding of each flight, which is the same as the common method of unfolding the wings of small drones, relying on the torsion spring 18 at the root of the wing to pop open and drive.

[0062] The driving unit 2 includes a power component, a retractable wire roller 22 and a rope. The retractable wire roller 22 is connected to the output end of the power component. The rope passes around the retractable wire roller 22 and the wing wire roller 35 to form a closed loop. The power component drives the retractable wire roller 22 to rotate forward or reverse to achieve retracting or releasing the wire, thereby pulling the wing body 3 to unfold or retract.

[0063] Combination Figure 7 and Figure 8 As shown, the power part in this embodiment includes a motor 21 and a gear reduction box 25. The chuck 1 arranged on the fuselage of the UAV in this embodiment is a rectangular plate structure as a whole. A mounting groove 11 is opened on the chuck 1, and the power part is installed in the mounting groove 11. In this embodiment, a motor seat 24 is installed in the mounting groove 11, and the motor 21 is installed on the motor seat 24. The output end of the motor 21 is externally connected to the input end of the gear reduction box 25, and the output end of the gear reduction box 25 is coaxially connected to the reel 22.

[0064] In this embodiment, the limiting column 26 is connected to one side of the retractable wire roller 22 and the wing wire roller 35, and the rope passes around the limiting column 26 on the retractable wire roller 22 and the wing wire roller 35, that is, when the rope is wound around the retractable wire roller 22, it passes around the limiting column 26 and then is wound around the wing wire roller 35, and finally passes through the limiting column 26 wound on the wing wire roller 35 to form a closed loop with the retractable wire roller 22. The retractable wire roller 22 and the wing wire roller 35 rely on the limiting column 26 to achieve the positioning and winding of the rope, and can prevent slipping.

[0065] In this embodiment, the stopping, forward rotation and reverse rotation of the motor 21 correspond to the locking, line-reeling and line-releasing states of the wing body 3 respectively.

[0066] In another embodiment, in combination Figure 4 As shown, an encoder 15 capable of monitoring the rotation angle of the wing turn plate 34 is installed on the rotating shaft 14. The encoder 15 is electrically connected to the PLC controller on the UAV fuselage, and the PLC controller is also electrically connected to the motor 21 through a line. When the motor 21 is releasing the wire, the rotation angle is monitored by the encoder 15 connected to the rotating shaft 14. When the specified position is reached, a signal is sent to the PLC controller, and the PLC controller can control the motor 21 to stop output and lock the rotation angle of the wing body 3, thereby realizing the accurate realization of the wing conversion position.

[0067] In another embodiment, in combination Figure 1 , Figure 2 , Figure 3 and Fig. 9 As shown, in this embodiment, two sets of crank slider mechanisms 6 are provided on the chuck 1 , and the two sets of crank slider mechanisms 6 are respectively arranged close to the two wing rotating plates 34 , and the crank slider mechanisms 6 are located between the driving unit 2 and the wing rotating plates 34 .

[0068] The crank slider mechanism 6 includes a crank 61, a connecting rod 62, a connecting rod 63, a transition line roller 8 and a slider 81. The slideways 7 are connected to both sides of the chuck 1 along the length direction of the chuck 1. The connecting rod 63 is vertically connected to the chuck 1. In this embodiment, the connecting rod 63 is vertically welded and fixed to the chuck 1. One end of the crank 61 is rotatably connected to the connecting rod 63, one end of the connecting rod 62 is rotatably connected to the other end of the crank 61 through an axis, and the other end of the connecting rod 62 is rotatably matched with the transition line roller 8. Fig. 9 As shown, the slider 81 is connected to the bottom of the transition line roller 8, and the slider 81 and the transition line roller 8 are integrally formed. Figure 3 As shown, the transition line roller 8 passes through the end of the connecting rod 62 away from the crank 61, and the slider 81 is located below the connecting rod 62.

[0069] The slider 81 is slidably matched with the slideway 7, and the retractable wire roller 22 is arranged in the horizontal direction and in a direction perpendicular to the card slot; the rope wound on the retractable wire roller 22 is wound around the wing wire roller 35 through the transition wire roller 8 to form a closed loop. The crank slider mechanism 6 rotates synchronously with the wing turn plate 34, and the slider 81 is connected to the transition wire roller 8. With the help of the sliding match of the slider 81 on the slideway 7, the position change is achieved to adjust the position of the transition wire roller 8, so that the rope is perpendicular to the current position of the wing turn plate 34. When the crank 61 and the connecting rod 62 are in line, the slider 81 reaches the extreme points on both sides, which can realize the conversion from rotational motion to continuous sliding.

[0070] In another embodiment, Figure 2 and Figure 3 As shown, a first gear 51 is coaxially connected to the rotating shaft 14, and a second gear 52 is coaxially connected to the top of the connecting rod 63. The first gear 51 and the second gear 52 are meshed with each other, and in this embodiment, the diameter of the first gear 51 is greater than the diameter of the second gear 52.

[0071] In another embodiment, in combination Figure 2 , Figure 3 and Figure 4 As shown, a lockable UAV variable sweep angle wing also includes locking mechanisms for locking two wing rotating plates 34 respectively;

[0072] In this embodiment, a semicircular slide groove is provided on both sides of the chuck 1, so that one side of the slide groove is the inner ring 12 and the other side of the slide groove is the outer ring;

[0073] In this embodiment, the locking mechanism includes a moving part 4, an inner ring electromagnet 16, an outer ring electromagnet 17 and a plurality of retaining grooves 13 provided on the side wall of the outer ring, and the plurality of retaining grooves 13 are evenly distributed along the circumference of the outer ring; in this embodiment, the retaining groove 13 is a vertically arranged arc-shaped groove structure, and the plurality of retaining grooves 13 are located on the same circle with the semicircular slide groove as a circle, with the same angle between them, and the plurality of retaining grooves 13 are evenly distributed on the outer ring side wall at 180 degrees.

[0074] In this embodiment, the inner ring electromagnet 16 and the outer ring electromagnet 17 are respectively installed on the inner ring 12 and the outer ring top of the slide groove; further, in one embodiment, the inner ring electromagnet 16 and the outer ring electromagnet 17 are both complete arc-shaped electromagnets; in another embodiment, the inner ring electromagnet 16 and the outer ring electromagnet 17 are both composed of a plurality of electromagnets spaced apart along the arc direction of the slide groove. In this embodiment, individual electromagnets can be distributed intermittently, which can reduce the weight of the outer ring electromagnet 17 and the inner ring electromagnet 16, and help to achieve a lightweight design of the drone.

[0075] Combination Figure 6As shown, the moving member 4 includes a moving rod 42 and a moving plate 43, and the moving rod 42 is vertically connected to the moving plate 43 to form a T-shaped structure. Figure 3 As shown, the movable plate 43 is located at the top of the wing rotating plate 34 and slides with the wing rotating plate 34 along the length direction of the wing rotating plate 34. A movable hole is opened on the wing rotating plate 34. The movable hole is a through hole structure, and one end of the movable rod 42 passes through the movable hole and is located in the slide groove, and the movable rod 42 can move horizontally in the movable hole.

[0076] The wing rotating plate 34 is connected to a slide rail 37 on both sides of the moving hole. The slide rail 37 is welded, integrally formed or connected and fixed to the wing rotating plate 34 in other ways. Figure 6 As shown, both sides of the bottom of the moving plate 43 are connected with pulleys 41 , and the pulleys 41 on both sides of the bottom of the moving plate 43 are respectively located in the slide rails 37 on both sides of the moving hole and slide in cooperation with the slide rails 37 .

[0077] The moving rod 42 is a metal rod. When the outer ring electromagnet 17 is energized and the inner ring electromagnet 16 is de-energized, the moving rod 42 can be attracted, so that the moving rod 42 moves to the retaining groove 13 on the outer ring side wall for locking. When the outer ring electromagnet 17 is de-energized and the inner ring electromagnet 16 is energized, the moving rod 42 can be attracted, so that the moving rod 42 moves to the side wall of the inner ring 12 for unlocking. The side wall of the inner ring 12 is a smooth side wall, which can enable the moving rod 42 to move smoothly along the side wall of the inner ring 12.

[0078] In the above-mentioned lockable continuous variable sweep wing mechanism, in the locking mechanism associated with the motor 21 and the chuck 1, when the motor 21 drives the rope to be retracted and released, the data read by the encoder 15 is used to measure the rotation angle of the wing turn plate 34. After reaching the specified angle, the motor 21 is locked (that is, the motor 21 stops running), and at the same time, the inner ring electromagnet 16 is powered off, and the outer ring electromagnet 17 is powered on, forcing the moving rod 42 to move from the inner ring 12 to the outer ring, and snap into the stop groove 13, so as to achieve strong structural locking; and when it is necessary to unlock and make the wing turn plate 34 rotate, the motor 21 is controlled to unlock (that is, the motor 21 is started), the inner ring electromagnet 16 is powered on, the outer ring electromagnet 17 is powered off, and the moving rod 42 moves to the inner ring 12 to release the lock. That is, when 0 represents off and 1 represents on, there are two basic situations: motor 1, inner ring electromagnet 1, outer ring electromagnet 0; motor 0, inner ring electromagnet 0, outer ring electromagnet 1.

[0079] In the above-mentioned lockable continuously variable sweep wing mechanism, the motor 21 controls its 01 state through the electronic control input, and simultaneously controls the inner ring electromagnet 16 and the outer ring electromagnet 17 in association. The state of the inner ring electromagnet 16 is consistent with the state of the motor 21, and the state of the outer ring electromagnet 17 is opposite to that of the motor 21.

[0080] Further, combined with Figure 3 and Figure 5As shown, in another embodiment, the two inner walls of the movable hole are respectively provided with a first electromagnet 33 and a second electromagnet 36, both of which are arc-shaped plate structures, and the first electromagnet 33 is close to the outer ring, and the second electromagnet 36 is close to the inner ring 12; the first electromagnet 33 is consistent with the on-off state of the outer ring electromagnet 17, and the second electromagnet 36 is consistent with the on-off state of the inner ring electromagnet 16, that is, the first electromagnet 33 and the second electromagnet 36 are respectively on and off with the outer ring electromagnet 17 and the inner ring electromagnet 16, which can improve the adsorption force on the movable rod 42, improve the stability of the locked state of the movable rod 42, and also facilitate to improve the strength and reliability of the locking.

[0081] The specific implementation process is as follows:

[0082] Combination Figure 1 , Fig.10 , Fig.11 and Fig.12 As shown, in the initial state, the two wing bodies 3 are arranged side by side and close to the drone fuselage, and the motor 21 is not locked. After the drone is launched, the torsion spring 18 is released to allow the wing bodies 3 to unfold quickly. When the wing bodies 3 rotate to the unfolding end position, the wing angle recorded by the encoder 15 reaches a predetermined value, and the motor 21 is locked.

[0083] The moving rod 42 is driven from the inner ring 12 into the outer ring by the on-off changes of the inner ring electromagnet 16, the outer ring electromagnet 17 and the first electromagnet 33 and the second electromagnet 36. The moving rod 42 is stuck in the retaining groove 13 of the outer ring to achieve structural rigidity locking, and the deployment process ends.

[0084] When it is necessary to change the sweep wing, the motor 21 is unlocked, and the moving rod 42 is involved in entering the inner ring 12 from the outer ring, the structural lock is released, and the motor 21 is reeled in. When the predetermined angle is reached, the moving rod 42 is driven from the inner ring 12 to the outer ring through the on-off change of the inner ring electromagnet 16, the outer ring electromagnet 17, and the first electromagnet 33 and the second electromagnet 36. The moving rod 42 is stuck in the retaining groove 13 of the outer ring to achieve structural rigid locking, and the recovery process ends. The lockable drone continuous sweep wing mechanism of the present invention has multiple locking functions. It can not only rely on ropes and motors 21 for preliminary locking, but also use the inner ring electromagnet 16 and the outer ring electromagnet 17 and the moving rod 42 as the structural rigid locking, and has the ability to achieve continuous sweep wing changes under a predetermined division.

[0085] In another embodiment, a drone is also disclosed, including a drone fuselage, on which a lockable drone variable sweep angle wing of any of the above embodiments is installed. It should be understood that the size of a lockable drone variant wing in the present invention needs to be determined according to the size of the corresponding drone fuselage. During the flight of the drone, the wing sweep angle is controlled by a rope-driven electromagnetic locking method, which can meet the requirements of rapidity and reliability of the drone sweep angle change.

[0086] It should be noted that the above description of the disclosed embodiments enables professionals and technicians in the field to implement or use the present application. Various modifications to these embodiments will be apparent to professionals and technicians in the field, and the general principles defined herein can be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features disclosed herein.

[0087] In the description of the present invention, it should be noted that the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0088] In the description of this document, terms such as "up", "down", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", and "longitudinal" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only used to illustrate the relative positional relationships between the various components or components, and do not particularly limit the specific installation orientations of the various components or components.

[0089] In the description of this document, some terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0090] In the description of this document, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0091] The structures, proportions, sizes, etc. drawn in the drawings in this application are only used to match the contents disclosed in this technical briefing book for technical personnel in this field to understand and read, and are not used to limit the restrictive conditions for the implementation of this application. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0092] The terms used in this document are those common terms currently widely used in the art in consideration of the functions of the present disclosure, but these terms may vary according to the intention of a person of ordinary skill in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in this case, their detailed meanings will be described in the detailed description of the present disclosure. Therefore, the terms used in the document should not be understood as simple names, but rather as an overall description based on the meaning of the terms and the present disclosure.

[0093] Flowcharts or text are used in this document to illustrate the operating steps performed according to the embodiments of the present application. It should be understood that the operating steps in the embodiments of the present application are not necessarily accurately performed in the order of recording. On the contrary, various steps can be processed in reverse order or simultaneously as needed. At the same time, other operations can also be added to these processes, or a certain step or several steps can be removed from these processes.

[0094] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A lockable variable sweep angle wing for a drone, comprising two wing bodies, characterized in that: It also includes a chuck connected to the fuselage of the drone, and two sets of drive units arranged on the chuck for driving the two wing bodies to unfold and retract respectively; One end of the two wing bodies is connected to a wing rotating plate, and the two wing rotating plates are respectively rotatably matched with the two sides of the chuck, and the wing rotating plate and the chuck are rotatably connected through a rotating shaft, and a torsion spring is sleeved on the outer side of the rotating shaft, and the torsion spring is located between the wing rotating plate and the chuck, one end of the torsion spring is embedded in the chuck, and the other end of the torsion spring is embedded in the bottom of the wing rotating plate, and the wing rotating plate is connected to a wing line roller; The driving unit includes a power component, a retractable wire roller and a rope. The retractable wire roller is connected to the output end of the power component. The rope passes around the retractable wire roller and the wing wire roller to form a closed loop. The power component drives the retractable wire roller to rotate forward or reverse to achieve retracting or releasing the wire, thereby pulling the wing body to unfold or retract.

2. The lockable variable sweep angle wing of a UAV according to claim 1, characterized in that: The chuck is provided with two sets of crank slider mechanisms, the two sets of crank slider mechanisms are respectively arranged close to the two wing rotating plates, and the crank slider mechanisms are located between the driving unit and the wing rotating plate; The crank slider mechanism includes a crank, a connecting rod, a connecting rod, a transition line roller and a slider. Slideways are connected to both sides of the chuck along the length direction of the chuck. The connecting rod is vertically connected to the chuck. One end of the crank is rotatably connected to the connecting rod, one end of the connecting rod is rotatably connected to the other end of the crank, and the other end of the connecting rod is rotationally matched with the transition line roller. The slider is connected to the bottom of the transition line roller, and the slider is slidably matched with the slideway; the rope wound around the retractable line roller passes through the transition line roller and is wrapped around the wing line roller to form a closed loop.

3. The lockable variable sweep angle wing of a UAV according to claim 2, characterized in that: A first gear is coaxially connected to the rotating shaft, a second gear is coaxially connected to the top of the connecting rod, and the first gear and the second gear are meshed with each other.

4. The lockable variable sweep angle wing of a UAV according to claim 1, characterized in that: The wing rotating plate is rotatably connected to the chuck via a rotating shaft, and an encoder capable of monitoring the rotation angle of the wing rotating plate is installed on the rotating shaft.

5. The lockable variable sweep angle wing of a UAV according to claim 1, characterized in that: Also included are locking mechanisms for locking the two wing rotating plates respectively; Semicircular slide grooves are provided on both sides of the chuck, one side of the slide groove is an inner ring, and the other side of the slide groove is an outer ring; The locking mechanism comprises a moving part, an inner ring electromagnet, an outer ring electromagnet and a plurality of retaining grooves provided on the side wall of the outer ring, wherein the plurality of retaining grooves are distributed along the circumference of the outer ring; The inner ring electromagnet and the outer ring electromagnet are respectively installed on the top of the inner ring and the outer ring of the slideway; The moving member comprises a moving rod and a moving plate, wherein the moving rod is vertically connected to the moving plate, the moving plate is located on the top of the wing turning plate and is slidably matched with the wing turning plate along the length direction of the wing turning plate, a moving hole is provided on the wing turning plate, one end of the moving rod passes through the moving hole and is located in the slide groove, and the moving rod can move horizontally in the moving hole; The moving rod is a metal rod. When the outer ring electromagnet is energized and the inner ring electromagnet is de-energized, the moving rod can be attracted to move the moving rod into the retaining groove on the outer ring side wall for locking. When the outer ring electromagnet is de-energized and the inner ring electromagnet is energized, the moving rod can be attracted to move the moving rod to the inner ring side wall for unlocking.

6. The lockable variable sweep angle wing of a UAV according to claim 5, characterized in that: The wing rotating plate is connected with slide rails on both sides of the moving hole, and the bottom of the moving plate is connected with pulleys on both sides. The pulleys on both sides of the bottom of the moving plate are respectively located in the slide rails on both sides of the moving hole and slide in cooperation with the slide rails.

7. The lockable variable sweep angle wing of a UAV according to claim 5, characterized in that: The inner ring electromagnet and the outer ring electromagnet are both a complete arc-shaped electromagnet or are composed of a plurality of electromagnets distributed at intervals along the arc-shaped direction of the slide groove.

8. A lockable variable sweep angle wing for a UAV according to any one of claims 5 to 7, characterized in that: A first electromagnet and a second electromagnet are respectively provided on the two inner side walls of the movable hole, the first electromagnet is close to the outer ring, and the second electromagnet is close to the inner ring; the first electromagnet is consistent in power-on and power-off states with the outer ring electromagnet, and the second electromagnet is consistent in power-on and power-off states with the inner ring electromagnet.

9. The lockable variable sweep angle wing of a UAV according to claim 1, characterized in that: One side of the retractable wire roller and the wing wire roller are both connected to a limiting column, and the ropes are respectively passed around the limiting columns on the retractable wire roller and the wing wire roller.

10. An unmanned aerial vehicle, comprising an unmanned aerial vehicle body, characterized in that: The UAV fuselage is equipped with a lockable UAV variable sweep angle wing as described in any one of claims 1 to 9.

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