Embedded resistance rudder movement mechanism and wing of unmanned aerial vehicle

Abstract

The invention provides an embedded resistance rudder movement mechanism of an unmanned aerial vehicle and a wing, and belongs to the technical field of unmanned aerial vehicles, the resistance rudder movement mechanism comprises a driving steering engine, an upper connecting rod and a lower connecting rod, the driving steering engine comprises a fixed end and a telescopic end, and the fixed end is used for being hinged to a front beam of the wing; one end of the upper connecting rod is hinged with the telescopic end, and the other end is hinged with the lower surface of the resistance rudder; one end of the lower connecting rod is hinged to the telescopic end, and the other end is hinged to a lower skin of the wing. The resistance rudder movement mechanism can drive the resistance rudder to be opened and closed through stretching and retracting of the driving steering engine, dead points cannot be encountered in the driving process, smooth rotation of the resistance rudder can be guaranteed, after the resistance rudder is closed, the upper connecting rod and the lower connecting rod can be folded to be completely embedded into the wing box, and a fairing does not need to be additionally arranged. Under the condition of large-angle unfolding of the control surface, the equivalent force arm for driving the steering engine is large, the output force of the steering engine can be effectively reduced, and the size of the steering engine is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and more specifically, relates to an embedded resistance rudder motion mechanism and a wing of a unmanned aerial vehicle. Background Art

[0002] Unlike conventional drones, flying wing drones do not have the horizontal and vertical tails for attitude control. Therefore, the arrangement of the control surfaces in flight control becomes more complicated, especially heading control, which is a difficult point in the design of flying wing drone flight control. Embedded drag rudders have a strong advantage in heading flight control. In order to make the lever arm as large as possible, the embedded drag rudder is arranged in the outer wing section near the wing tip. As the wingspan increases, the spatial height of the wing box decreases, and the spatial height of the wing box in the outer wing section is usually very limited. Therefore, the arrangement of the drag rudder motion mechanism in the flying wing drone will be limited by the size of the wing box space.

[0003] The design of the traditional drag rudder motion mechanism is unreasonable, and its size usually exceeds the spatial height of the wing box, resulting in the need to add a fairing on the outside. In addition, as the drag rudder surface is deployed, the force and torque on the rudder surface will increase with the deployment angle. The larger the rudder surface opening angle, the greater the torque that the servo needs to provide, and the higher the output force requirement for the servo. Summary of the invention

[0004] The purpose of the present invention is to provide an embedded drag rudder motion mechanism and wing of a UAV, so as to solve the problems that the existing drag rudder motion mechanism has large size and high requirements on the output force of the servo.

[0005] In order to achieve the above-mentioned object, in a first aspect, the present invention provides a UAV embedded resistance rudder motion mechanism, comprising:

[0006] A driving servo, the driving servo comprising a fixed end and a telescopic end, the fixed end being used for a first hinge connection with a front beam of the wing;

[0007] An upper connecting rod, one end of which is second-hinged with the telescopic end, and the other end of which is third-hinged with the rudder surface of the resistance rudder;

[0008] A lower connecting rod, one end of which is fourthly hinged to the telescopic end, and the other end of which is fifthly hinged to the lower skin of the wing.

[0009] Optionally, the rotation axis of the first hinge, the rotation axis of the second hinge, the rotation axis of the third hinge, the rotation axis of the fourth hinge and the rotation axis of the fifth hinge are all parallel to the rotation axis of the resistance rudder.

[0010] In a second aspect, the present invention provides a drone wing, comprising:

[0011] A wing body, wherein the wing body is provided with a wing box;

[0012] The UAV embedded resistance rudder motion mechanism of the first aspect, wherein the UAV embedded resistance rudder motion mechanism is installed in the wing box;

[0013] Optionally, the wing body comprises:

[0014] a front beam, wherein the fixed end is first hingedly connected to the front beam of the wing;

[0015] A lower skin, wherein the lower skin is connected to the front beam, and the other end of the lower connecting rod is fifthly hinged to the lower skin of the wing;

[0016] An upper skin, the upper skin is connected to the front beam and is located above the lower skin, the wing box is formed between the upper skin and the lower skin, and the upper skin is provided with a skin opening corresponding to the position and size of the UAV embedded drag rudder motion mechanism;

[0017] A drag rudder, one side of which is hinged to the front beam and is located above the upper skin, and the other end of the upper connecting rod is thirdly hinged to the lower surface of the drag rudder.

[0018] Optionally, the upper skin is provided with a sunken area corresponding to the position and size of the drag fin, and the sunken area is used to accommodate the drag fin.

[0019] Optionally, the drone wing further comprises:

[0020] A plurality of wing ribs are distributed on the wing box and connected to the front beam, and a distribution range of the plurality of wing ribs corresponds to a position of the sunken area.

[0021] Optionally, reinforcing ribs are provided at the edges of the skin openings.

[0022] Optionally, when the telescopic end of the driving servo is fully extended, the angle between the upper connecting rod and the lower connecting rod is an acute angle, and the resistance rudder is fully closed.

[0023] Optionally, the wing ribs and the front beam are both provided with weight-reducing holes.

[0024] Optionally, the wing ribs and the front beam are both made of aluminum alloy.

[0025] The beneficial effects of the present invention are: providing an embedded drag rudder motion mechanism for a drone, comprising: a driving servo, an upper connecting rod and a lower connecting rod, the driving servo comprising a fixed end and a telescopic end, the fixed end being used for a first hinge connection with the front beam of the wing; one end of the upper connecting rod being secondly hinged with the telescopic end, the other end of the upper connecting rod being used for a third hinge connection with the lower surface of the drag rudder; one end of the lower connecting rod being fourthly hinged with the telescopic end, the other end of the lower connecting rod being used for a fifth hinge connection with the lower skin of the wing. Firstly, the drag rudder motion mechanism can drive the drag rudder to open and close by the telescopic driving servo, and no dead point will be encountered during the driving process, which can ensure the smooth rotation of the drag rudder. After the drag rudder is closed, the upper connecting rod and the lower connecting rod can be folded to be completely embedded in the wing box, and no additional fairing is required. Secondly, the drag rudder motion mechanism has a small width, and the required skin opening size is small, which ensures the strength, stiffness and stability of the skin. Thirdly, when the rudder surface is unfolded at a large angle, the equivalent arm of the driving servo is large, which can effectively reduce the output force of the servo and reduce the volume of the servo.

[0026] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0028] Figure 1 A partial schematic structural diagram of a UAV embedded drag rudder motion mechanism and a wing according to an embodiment of the present invention is shown.

[0029] Figure 2 A partial schematic structural diagram of a UAV embedded drag rudder motion mechanism and a wing without a drag rudder according to an embodiment of the present invention is shown.

[0030] Figure 3 A partial schematic structural diagram of a UAV embedded drag rudder motion mechanism and a wing excluding a drag rudder and an upper skin according to an embodiment of the present invention is shown.

[0031] Figure 4 A partial schematic structural diagram of a UAV embedded drag rudder motion mechanism and a wing excluding an upper skin according to an embodiment of the present invention is shown.

[0032] Description of reference numerals:

[0033] 1. Upper skin; 2. Front beam; 3. Wing rib; 4. Fixed joint ear; 6. Upper connecting rod; 7. Drag rudder joint ear; 8. Lower connecting rod; 9. Lower skin joint ear; 10. Drive servo; 11. Skin opening; 15. Lower skin; 16. Drag rudder. DETAILED DESCRIPTION

[0034] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0035] like Figure 1-4 As shown, this embodiment provides a UAV embedded resistance rudder motion mechanism, including:

[0036] A driving servo 10, wherein the driving servo 10 comprises a fixed end and a telescopic end, wherein the fixed end is used for a first hinge connection with the front beam 2 of the wing;

[0037] An upper connecting rod 6, one end of which is second-hinged with the telescopic end, and the other end of which is third-hinged with the lower surface of the resistance rudder 16;

[0038] A lower connecting rod 8, one end of which is fourthly hinged to the telescopic end, and the other end of which is fifthly hinged to the lower skin 15 of the wing.

[0039] The lower connecting rod 8 is connected to the lower skin 15 through the lower skin joint ear 9, and can rotate around the hole axis of the lower skin joint ear 9; one end of the driving servo 10 is connected to the fixed joint ear 4, and the other end is connected to the upper connecting rod 6 and the lower connecting rod 8 through the pin shaft.

[0040] Specifically, the drag rudder motion mechanism can drive the drag rudder 16 to open and close by extending and retracting the driving servo. When the drag rudder 16 is deployed, the telescopic end of the driving servo 10 retracts, and the angle between the upper connecting rod 6 and the lower connecting rod 8 gradually increases. No dead point will be encountered during the driving process, which can ensure the smooth rotation of the drag rudder 16. After the drag rudder 16 is closed, the upper connecting rod and the lower connecting rod can be folded to be completely embedded in the wing box, and there is no need to add a fairing. The drag rudder motion mechanism has a small width and a small required skin opening size, which ensures the strength, rigidity and stability of the skin. When the rudder surface is deployed at a large angle, the equivalent arm of the driving servo is large, which can effectively reduce the output force of the servo and reduce the size of the servo.

[0041] Optionally, the rotation axis of the first hinge, the rotation axis of the second hinge, the rotation axis of the third hinge, the rotation axis of the fourth hinge and the rotation axis of the fifth hinge are all parallel to the rotation axis of the resistance rudder 16 .

[0042] Specifically, this arrangement makes the rotation reference plane of the motion mechanism perpendicular to the rotation axis of the resistance rudder 16, thereby ensuring the force balance of the resistance rudder 16 during the movement and reducing the shaking of the resistance rudder 16 during the rotation.

[0043] This embodiment also provides a drone wing, such as Figure 1-4 As shown, including:

[0044] A wing body, wherein the wing body is provided with a wing box;

[0045] The UAV embedded resistance rudder motion mechanism in this embodiment is installed in the wing box.

[0046] Specifically, for the outer wing section near the tip, the drag rudder motion mechanism can ensure that the entire set of motion mechanisms are fully embedded in the wing box when the drag rudder 16 is closed, without the need to set a fairing on the outer surface, thereby ensuring the aerodynamic performance and stealth performance of the UAV. The drag rudder motion mechanism greatly reduces the skin opening 11 required during the deployment of the drag rudder 16. The opening of the corresponding upper skin sunken area is greatly reduced, ensuring the strength, stiffness and stability of the skin in the sunken area. When the drag rudder 16 is deployed at a large angle, the equivalent force arm of the driving servo 10 is large, which can effectively reduce the output force and reduce the volume of the driving servo 10. The motion mechanism will not encounter a dead point during the rotation of the drag rudder 16, which can ensure the smooth rotation of the drag rudder.

[0047] Optionally, the wing body comprises:

[0048] front beam 2, said fixed end being first hinged to the front beam 2 of the wing;

[0049] A lower skin 15, wherein the lower skin 15 is connected to the front beam 2, and the other end of the lower connecting rod 8 is fifthly hinged to the lower skin 15 of the wing;

[0050] An upper skin 1, the upper skin 1 is connected to the front beam 2 and is located above the lower skin 15, the wing box is formed between the upper skin 1 and the lower skin 15, and the upper skin 1 is provided with a skin opening 11 corresponding to the position and size of the UAV embedded drag rudder motion mechanism;

[0051] The drag rudder 16 has one side hinged to the front beam 2 and is located above the upper skin 1, and the other end of the upper connecting rod 6 is thirdly hinged to the lower surface of the drag rudder.

[0052] In this embodiment, the drag rudder 16 is connected to the fixed joint lug 4 through a gooseneck joint; the upper connecting rod 6 is connected to the drag rudder 16 through the drag rudder joint lug 7, and can rotate around the hole axis of the drag rudder joint lug 7; similarly, the lower connecting rod 8 is connected to the lower skin 15 through the lower skin joint lug 9, and can rotate around the hole axis of the lower skin joint lug 9; one end of the driving servo 10 is connected to the fixed joint lug 4, and the other end is connected to the upper connecting rod 6 and the lower connecting rod 8 through the pin. The fixed joint lug 4 is fastened and installed on the mounting surface of the front beam 2 by the bolts, one side is connected to the gooseneck joint, and the other side is connected to the fixed end of the driving servo 10. The upper connecting rod 6 and the lower connecting rod 8 are both connected to the telescopic end of the driving servo 10, and the upper connecting rod 6, the lower connecting rod 8 and the joints of the telescopic end are ensured to be coaxial and connected by the pin. Between the gooseneck joint and the drag rudder 16, between the driving servo 10 and the fixed joint, between the other end of the upper connecting rod 6 and the drag rudder joint ear 7, and between the lower connecting rod 8 and the lower skin joint ear 9, each two of the above connecting parts are connected by the above pins, and the above connecting parts are required to ensure coaxiality. The drag rudder 16 and the front beam 2 are connected by a plurality of the above gooseneck joints through pins. The rotating shaft of the gooseneck joint is the rotating shaft of the drag rudder 16, and the axis of the pin is parallel to the rotating shaft of the drag rudder 16. The material of the bolt and the pin is 30CrMnSiNi2A, and the material of the nut is 30CrMnSiA, which has high strength, toughness and wear resistance, is suitable for high-frequency actuation in flight, and is safe and reliable. The upper connecting rod 6 and the lower connecting rod 8 are made of aluminum alloy, which is strong enough and light, so that it is convenient for the servo propulsion mechanism to control the movement of the drag rudder 16. The size of the skin opening should ensure that the driving servo 10 can be smoothly inserted into the wing box when installed, and at the same time ensure that the driving servo 10, the upper connecting rod 6 and the lower connecting rod 8 do not interfere with each other within the swing range during operation.

[0053] Optionally, the upper skin 1 is provided with a sunken area corresponding to the position and size of the resistance fin 16 , and the sunken area is used to accommodate the resistance fin 16 .

[0054] Optionally, the drone wing also includes:

[0055] A plurality of wing ribs 3 are distributed on the wing box and connected to the front beam 2, and a distribution range of the plurality of wing ribs 3 corresponds to a position of the sunken area.

[0056] In this embodiment, four wing ribs 3 are provided, and the front beam 2 is perpendicular to the wing ribs 3 and connected with each other through bolts and nuts, so that the support of the front beam 2 is more stable and has higher strength.

[0057] Optionally, reinforcing ribs are provided at the edges of the skin opening 11 .

[0058] Specifically, adding ribs at the skin opening 11 can improve the strength of the upper skin 1 .

[0059] Optionally, when the telescopic end of the driving servo 10 is fully extended, the angle between the upper connecting rod 6 and the lower connecting rod 8 is an acute angle, and the resistance rudder 16 is fully closed.

[0060] Specifically, when the resistance rudder 16 is in a closed state, the telescopic rod of the driving servo motor 10 is extended to its longest state, and the angle between the axis of the upper connecting rod 6 and the axis of the lower connecting rod 8 is minimum; the telescopic rod of the driving servo motor 10 contracts, driving the upper connecting rod 6 and the lower connecting rod 8 to rotate, so that the upper connecting rod 6 drives the resistance rudder 16 to rotate upward through the resistance rudder joint ear 7; the opening and closing of the resistance rudder 16 is achieved by controlling the extension and retraction of the telescopic rod of the driving servo motor 10.

[0061] Optionally, the wing rib 3 and the front beam 2 are both provided with weight-reducing holes.

[0062] Specifically, the weight-reducing holes can reduce the weight of the wings and make the drone lightweight.

[0063] Optionally, the wing rib 3 and the front beam 2 are both made of aluminum alloy.

[0064] Specifically, aluminum alloy is light in weight and high in strength, but the material of the front beam 2 and the wing rib 3 is not limited to aluminum alloy, and can be replaced by other composite materials that meet the use requirements.

[0065] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An embedded resistance rudder motion mechanism for a drone, characterized in that: include: A driving steering engine (10), the driving steering engine (10) comprising a fixed end and a telescopic end, the fixed end being used for a first hinge connection with a front beam (2) of the wing; An upper connecting rod (6), one end of the upper connecting rod (6) being second-hinged with the telescopic end, and the other end of the upper connecting rod (6) being third-hinged with the lower surface of the resistance rudder (16); A lower connecting rod (8), one end of which is fourthly hinged to the telescopic end, and the other end of which is fifthly hinged to the lower skin (15) of the wing.

2. The UAV embedded resistance rudder motion mechanism according to claim 1, characterized in that: The rotation axis of the first hinge, the rotation axis of the second hinge, the rotation axis of the third hinge, the rotation axis of the fourth hinge and the rotation axis of the fifth hinge are all parallel to the rotation axis of the resistance rudder (16).

3. A drone wing, characterized in that: include: A wing body, wherein the wing body is provided with a wing box; The UAV embedded resistance rudder motion mechanism as described in any one of claims 1-2, wherein the UAV embedded resistance rudder motion mechanism is installed in the wing box.

4. The drone wing according to claim 3, characterized in that: The wing body comprises: A front beam (2), wherein the fixed end is first hinged to the front beam (2) of the wing; A lower skin (15), the lower skin (15) is connected to the front beam (2), and the other end of the lower connecting rod (8) is fifthly hinged to the lower skin (15) of the wing; An upper skin (1), the upper skin (1) being connected to the front beam (2) and being located above the lower skin (15), the wing box being formed between the upper skin (1) and the lower skin (15), the upper skin (1) being provided with a skin opening (11) corresponding to the position and size of the UAV embedded drag rudder motion mechanism; A drag rudder (16), one side of which is hinged to the front beam (2) and is located above the upper skin (1), and the other end of the upper connecting rod (6) is thirdly hinged to the lower surface of the drag rudder.

5. The drone wing according to claim 4, characterized in that: The upper skin (1) is provided with a sunken area corresponding to the position and size of the resistance fin (16), and the sunken area is used to accommodate the resistance fin (16).

6. The drone wing according to claim 5, characterized in that: Also includes: A plurality of wing ribs (3), wherein the plurality of wing ribs (3) are distributed on the wing box and connected to the front beam (2), and the distribution range of the plurality of wing ribs (3) corresponds to the position of the sunken area.

7. The drone wing according to claim 4, characterized in that: The edge of the skin opening (11) is provided with reinforcing ribs.

8. The drone wing according to claim 4, characterized in that: When the telescopic end of the driving servo (10) is fully extended, the angle between the upper connecting rod (6) and the lower connecting rod (8) is an acute angle, and the resistance rudder (16) is fully closed.

9. The drone wing according to claim 6, characterized in that: The wing rib (3) and the front beam (2) are both provided with weight-reducing holes.

10. The drone wing according to claim 6, characterized in that: The wing rib (3) and the front beam (2) are both made of aluminum alloy.

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