Folding type variant unmanned aerial vehicle capable of achieving distributed loads
Through distributed load design and four-link mechanism driven by worm gear and worm motor, the structural complexity and symmetry problems of folding variant drones are solved, and the stable large-scale folding deformation and high load-bearing capacity of the drone are achieved, which improves flight safety.
Patent Information
- Application Number
- CN202510424901.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-07
- Publication Date
- 2025-08-01
AI Technical Summary
The existing foldable variant UAVs have problems such as complex structure, damaged wing structural integrity, reduced load-bearing capacity and difficult to maintain wing symmetry, resulting in rolling torque during flight.
The folding variant UAV design adopts distributed loads, and the inner and outer folding driving mechanisms are used to drive the four-link mechanism through the worm gear and worm motor to achieve synchronous flip and horizontal state maintenance of the wings. Combined with the connection between carbon fiber board and tube, the structural strength and symmetry are ensured.
It realizes large-scale folding and deformation of the drone during flight, maintains structural stability and symmetry, improves load-bearing capacity and flight safety, and reduces production costs and complexity.
Smart Images
Figure CN120397329A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical fields of unmanned aerial vehicles, mechanics, machinery, etc., and specifically refers to a distributed load folding variable unmanned aerial vehicle. Background Art
[0002] In the face of increasingly complex flight environments and mission requirements, variable unmanned aerial vehicles that can adaptively change their shapes according to flight missions, flight profiles, or flight environments have become a research hotspot in the academic and engineering fields. Folding variable unmanned aerial vehicles can be deployed and folded in the air to flexibly change their configurations and have the multi-mission capabilities of low-speed cruise reconnaissance and high-speed strike and evacuation. However, in order to achieve the folding and deformation ability of the unmanned aerial vehicle, the following defects will occur:
[0003] First, the folding variable unmanned aerial vehicle will have a more complex structure compared to the fixed-wing unmanned aerial vehicle;
[0004] Second, there will be gaps at the hinges of the folding variable unmanned aerial vehicle, which will damage the integrity of the wing structure;
[0005] Third, the folding variable unmanned aerial vehicle needs to be folded and deformed, and the hinges need to be interrupted, resulting in a significant decrease in the load-bearing capacity;
[0006] Fourth, and most importantly, the two wings need to always maintain symmetry during the folding and deformation process to avoid the generation of different aerodynamic forces on the two wings of the variable unmanned aerial vehicle during flight, resulting in a rolling moment and causing the unmanned aerial vehicle to roll.
[0007] Due to these complex factors, for the variable unmanned aerial vehicle to be able to achieve autonomous wing deformation, the wing deformation mechanism used must adopt a new type of lightweight distributed drive structure in order to maximize the performance advantages of the variable aircraft with little increase in structural weight.
[0008] Therefore, designing and manufacturing a folding variable unmanned aerial vehicle that can fold and deform over a large range, has high reliability, and strong load-bearing capacity is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention
[0009] In view of the above problems, the present invention proposes a folding variable unmanned aerial vehicle that realizes distributed loads, which can achieve free deformation of the wings at the same time with low production costs and convenient installation, and finally achieves the purpose of changing the aerodynamic shape and meeting various mission requirements.
[0010] The technical solution of the present invention is as follows: The distributed load folding variable unmanned aerial vehicle main body 10, a pair of folding inner wings 11 and a pair of folding outer wings 12. The pair of folding inner wings 11 are symmetrically installed on both sides of the main body 10 and are connected to the main body 10 through an inner folding drive mechanism. The pair of folding outer wings 12 are installed outside the folding inner wings 11, and the two are connected through an outer folding drive mechanism. Among them, the pair of folding inner wings 11 keep synchronous flipping, the pair of folding outer wings 12 keep synchronous flipping, and the pair of folding outer wings 12 always maintain a horizontal state during the folding and unfolding process of the unmanned aerial vehicle.
[0011] Further, the inner folding drive mechanism includes a first inner hinge 4, a first outer hinge 5, a first worm and gear motor 1a and a first four-bar linkage; the first inner hinge 4 is fixedly installed on a first carbon fiber plate 15, and the first carbon fiber plate 15 is fixed on the main body 10. The first outer hinge 5 is fixedly installed on a first carbon fiber tube 14, and the first carbon fiber tube 14 is fixed on the folding inner wing 11. The first inner hinge 4 and the first outer hinge 5 are rotatably connected through a first pin shaft 9a; so that the folding inner wing 11 is rotatably connected to the main body 10.
[0012] The housing of the first worm and gear motor 1a is fixedly installed beside the first inner hinge 4, and its output shaft is connected to the first outer hinge 5 through a first four-bar linkage, so as to drive the first outer hinge 5 to reciprocally flip through the first worm and gear motor 1a.
[0013] Further, the first four-bar linkage includes a first crank 2a, a first rocker 3a, a first outer pin shaft 7a and a first intermediate pin shaft 8a; one end of the first crank 2a is rotatably connected to the output shaft of the first worm and gear motor 1a, and the other end is rotatably connected to the first rocker 3a through the first intermediate pin shaft 8a. The other end of the first rocker 3a is rotatably connected to the first outer hinge 5 through the first outer pin shaft 7a; the output shaft of the first worm and gear motor 1a, the first intermediate pin shaft 8a, the first outer pin shaft 7a and the first pin shaft 9a are located at the four vertices of a quadrilateral.
[0014] Further, the outer folding drive mechanism includes a second inner hinge 19, a second outer hinge 20, a second worm and gear motor 1b and a second four-bar linkage; the second inner hinge 19 is fixedly installed on a second carbon fiber plate 16, and the second carbon fiber plate 16 is fixed on the folding inner wing 11. The second outer hinge 20 is fixedly installed on a second carbon fiber tube 18, and the second carbon fiber tube 18 is fixedly connected to the folding outer wing 12. The second inner hinge 19 and the second outer hinge 20 are rotatably connected through a second pin shaft 9b; so that the folding outer wing 12 is rotatably connected to the folding inner wing 11.
[0015] The housing of the second turbo worm motor 1b is fixedly installed beside the second inner hinge 19, and its output shaft is connected to the second outer hinge 20 through a second four-bar linkage mechanism, so as to drive the second outer hinge 20 to reciprocate and flip through the second turbo worm motor 1b.
[0016] Further, the second four-bar linkage mechanism includes a second crank 2b, a second rocker 3b, a second outer pin shaft 7b and a second intermediate pin shaft 8b; one end of the second crank 2b is rotatably connected to the output shaft of the second turbo worm motor 1b, and the other end is rotatably connected to the second rocker 3b through the second intermediate pin shaft 8b, and the other end of the second rocker 3b is rotatably connected to the second outer hinge 20 through the second outer pin shaft 7b; the output shaft of the second turbo worm motor 1b, the second intermediate pin shaft 8b, the second outer pin shaft 7b and the second pin shaft 9b are located at the four vertices of a quadrilateral.
[0017] Further, the angular velocities of the first turbo worm motor 1a and the second turbo worm motor 1b are the same and the directions are opposite.
[0018] Further, two inner folding drive mechanisms are provided between the main fuselage 10 and each folding inner wing 11, and two outer folding drive mechanisms are provided between the folding inner wing 11 and the folding outer wing 12.
[0019] The folding drive mechanism used in this case is a simple four-bar structure and a worm and worm gear motor as the power source. The four-bar mechanism is simple in structure, easy to process and assemble, and the used worm and worm gear motor has a self-locking function, which can play a role in torsional limit. The folding angle of the folding variant UAV is only related to the rotation angle of the output shaft of the worm and worm gear motor. Therefore, the self-locking function can ensure that the two wings maintain a synchronous movement with the same height during the folding or unfolding process.
[0020] Compared with the existing variant UAV deformation concept and deformation device, first of all, the distributed load folding variant UAV proposed by the present invention is feasible in principle, can achieve the goal of large-area deformation in the air, and the central position will not change due to deformation; secondly, from the processing technology analysis, the parts of the folding drive mechanism are simple, easy to process and assemble, and can also ensure the structural strength, and can better ensure the symmetry of the variant UAV. Generally speaking, the present invention can achieve the goal of large-range folding deformation of the UAV in the air. By using the worm and worm gear motor to realize the load distribution transmission and self-locking function, it can ensure the structural strength while better maintaining the symmetry of the UAV, which is crucial for the flight safety and stability. Therefore, the present invention has a relatively broad application prospect. Description of the Drawings
[0021] Figure 1 is a schematic structural diagram of the distributed load folding variant UAV in the unfolded state.
[0022] Figure 2 It is a structural schematic diagram of the folded state of a distributed load folding variable unmanned aerial vehicle (UAV).
[0023] Figure 3 It is a structural schematic diagram of the inner folding drive mechanism in the deployed state of the variable UAV.
[0024] Figure 4 It is a structural schematic diagram of the inner folding drive mechanism in the folded state of the variable UAV.
[0025] Figure 5 It is Figure 3 an exploded view of
[0026] Figure 6 It is a structural schematic diagram of the outer folding drive mechanism in the deployed state of the variable UAV.
[0027] Figure 7 It is a structural schematic diagram of the outer folding drive mechanism in the folded state of the variable UAV;
[0028] In the figure, 1a is the first worm and worm gear motor, 2a is the first crank, 3a is the first rocker, 4 is the first inner hinge, 5 is the first outer hinge, 6a is the first bearing, 7a is the first outer pin shaft, 8a is the first intermediate pin shaft, and 9a is the first pin shaft;
[0029] 1b is the second worm and worm gear motor, 2b is the second crank, 3b is the second rocker, 4 is the second inner hinge, 5 is the second outer hinge, 6b is the second bearing, 7b is the second outer pin shaft, 8b is the second intermediate pin shaft, and 9b is the second pin shaft;
[0030] 10 is the main fuselage, 11 is the folding inner wing, and 12 is the folding outer wing;
[0031] 13 is the pipe clamp, 14 is the first carbon fiber tube, 15 is the first carbon fiber plate, 16 is the second carbon fiber plate, 17 is the second carbon fiber tube, 18 is the third carbon fiber tube, 19 is the second inner hinge, and 20 is the second outer hinge. Detailed implementation manners
[0032] To clearly illustrate the technical features of this patent, the following will elaborate on this patent in detail through specific implementation manners and in conjunction with its accompanying drawings.
[0033] As Figure 1 and 2 shown, the distributed load folding variable UAV can be flexibly switched between the folded and deployed states, and its shape can adaptively change according to the flight mission, flight profile, or flight environment, so as to adapt to a variety of different flight scenarios. To achieve the mutual switching of the folding variable UAV between the folded and deployed states, its structure is specifically as follows:
[0034] The distributed load folding variant UAV includes a main fuselage 10, a pair of folding inner wings 11 and a pair of folding outer wings 12. The pair of folding inner wings 11 are symmetrically installed on both sides of the main fuselage 10 and are connected to the main fuselage 10 through two inner driving mechanisms. The pair of folding outer wings 12 are symmetrically installed outside the folding inner wings 11 and are connected to the folding inner wings 11 through two outer driving mechanisms. Among them, the pair of folding inner wings 11 keep synchronous flipping, the pair of folding outer wings 12 keep synchronous flipping, and the pair of folding outer wings 12 always maintain a horizontal state during the folding and unfolding process of the UAV, so that the folding variant UAV is more stable during flight.
[0035] In order to realize the folding and unfolding actions of the above-mentioned folding variant UAV, an inner folding mechanism is provided between the main fuselage 10 and the folding inner wings 11, an outer folding mechanism is provided between the folding inner wings 11 and the folding outer wings 12, and the flipping directions of the inner folding mechanism and the outer folding mechanism are opposite;
[0036] The inner folding driving mechanism includes an inner hinge 1 4, an outer hinge 1 5, a first worm and gear motor 1a and a first four-bar linkage; the inner hinge 1 4 is fixedly installed on a carbon fiber plate 1 15, and the carbon fiber plate 1 15 is fixed on the main fuselage 10. The outer hinge 1 5 is fixedly installed on a carbon fiber tube 1 14, and the carbon fiber tube 1 14 is fixed on the folding inner wing 11. The inner hinge 1 4 and the outer hinge 1 5 are rotatably connected through a first pin shaft 9a; so that the folding inner wing 11 is rotatably connected to the main fuselage 10.
[0037] The housing of the first worm and gear motor 1a is fixedly installed beside the inner hinge 1 4, and its output shaft is connected to the outer hinge 1 5 through a first four-bar linkage, so as to drive the outer hinge 1 5 to reciprocally flip through the first worm and gear motor 1a. [[ID=I2]]
[0038] Among them, the first four-bar linkage includes a first crank 2a, a first rocker 3a, a first outer pin shaft 7a and a first intermediate pin shaft 8a; one end of the first crank 2a is rotatably connected to the output shaft of the first worm and gear motor 1a, and the other end is rotatably connected to the first rocker 3a through the first intermediate pin shaft 8a. The other end of the first rocker 3a is rotatably connected to the outer hinge 1 5 through the first outer pin shaft 7a; the output shaft of the first worm and gear motor 1a, the first intermediate pin shaft 8a, the first outer pin shaft 7a and the first pin shaft 9a are at the four vertices of a quadrilateral.
[0039] In order to achieve a better rotational connection, a first bearing 6a can be sleeved on the first intermediate pin shaft 8a, the first outer pin shaft 7a and the first pin shaft 9a.
[0040] A pipe clamp 13 is also fixedly installed on the outer hinge 5. The carbon fiber pipe 14 is clamped by the pipe clamp 13, and the carbon fiber pipe 14 is fixed on the folding inner wing 11, thereby realizing the fixation of the hinge 5 and the folding inner wing 11, so that the folding inner wing 11 makes a flipping motion along with the outer hinge 5.
[0041] For the folding outer wing 12 to maintain a horizontal state, the outer drive mechanism needs to make a reverse flipping motion;
[0042] The outer folding drive mechanism includes an inner hinge 19, an outer hinge 20, a second worm and gear motor 1b and a second four-bar linkage; the inner hinge 19 is fixedly installed on the carbon fiber plate 16, the carbon fiber plate 16 is fixed on the folding inner wing 11, the outer hinge 20 is fixedly installed with the carbon fiber pipe 18, and the carbon fiber pipe 18 is fixedly connected to the folding outer wing 12. The inner hinge 19 and the outer hinge 20 are rotationally connected through the second pin shaft 9b; so that the folding outer wing 12 is rotationally connected to the folding inner wing 11;
[0043] The housing of the second worm and gear motor 1b is fixedly installed beside the inner hinge 19, and its output shaft is connected to the outer hinge 20 through the second four-bar linkage, so as to drive the outer hinge 20 to reciprocally flip through the second worm and gear motor 1b.
[0044] Wherein, the second four-bar linkage includes a second crank 2b, a second rocker 3b, a second outer pin shaft 7b and a second intermediate pin shaft 8b; one end of the second crank 2b is rotationally connected to the output shaft of the second worm and gear motor 1b, and the other end is rotationally connected to the second rocker 3b through the second intermediate pin shaft 8b. The other end of the second rocker 3b is rotationally connected to the outer hinge 20 through the second outer pin shaft 7b; the output shaft of the second worm and gear motor 1b, the second intermediate pin shaft 8b, the second outer pin shaft 7b and the second pin shaft 9b are located at the four vertices of a quadrilateral.
[0045] In order to better achieve the rotational connection, second bearings 6b can be sleeved on the second intermediate pin shaft 8b, the second outer pin shaft 7b and the second pin shaft 9b.
[0046] A pipe clamp 13 is installed on the outer hinge 20. The pipe clamp 13 is fixed on the carbon fiber pipe 17 or the carbon fiber pipe 18, and the carbon fiber pipe 17 or the carbon fiber pipe 18 is fixed on the folding outer wing 12, realizing the fixation of the outer hinge 20 and the folding outer wing 12, so that the folding outer wing 12 follows the outer hinge 20 to make a flipping motion.
[0047] Regarding a pair of folding outer wings 12 always maintaining a horizontal state during the folding and unfolding process:
[0048] The angular velocities of the first and second worm and gear motors 1a and 1b are the same and their directions are opposite, so that the outer wing 12 always remains horizontal.
[0049] Regarding the folding drive mechanism:
[0050] The folding drive mechanism has the characteristics of simple structure and easy processing. This not only reduces the weight, improves the efficiency and reliability, but also enables the folding drive mechanism not to occupy too much space, reducing the gaps between the main fuselage 10 and the folding inner wing 11, and between the folding inner wing 11 and the folding outer wing 12. This advantage is very important for the design of folding variant UAVs, which can improve the overall performance and reliability of the variant UAVs. Driven by this folding drive motor, the movement range of the distributed load folding variant UAV is from 0 degrees to 90 degrees.
[0051] In the above:
[0052] As Figure 1 As shown, two inner folding drive mechanisms are provided between the main fuselage 10 and each folding inner wing 11, and two outer folding drive mechanisms are provided between the folding inner wing 11 and the folding outer wing 12. This can ensure the strength and prevent the folding inner wing 11 and the folding outer wing 12 from twisting.
[0053] The main fuselage 10 has two carbon fiber plates 15 perpendicular to the main fuselage 10. The carbon fiber plates 15 have threaded holes with the same diameter as the inner hinge 14, and the inner hinge 14 also has a round hole with the same diameter as the fixed shaft of the worm and gear motor 1.
[0054] The round hole on the outer hinge 5 is adapted to the fixed hole of the pipe clamp 13, and the pipe clamp 13 is fixed on the outer hinge 5. The round hole of the pipe clamp 13 has the same diameter as the carbon fiber tube 14, and the direction of the carbon fiber tube is perpendicular to the chord length direction of the folding inner wing 11.
[0055] A pair of folding inner wings 11 has two carbon fiber plates 16 perpendicular to the folding inner wing 11. The carbon fiber plates 16 have threaded holes with the same diameter as the inner hinge 19, and the inner hinge 19 also has a round hole with the same diameter as the fixed hole of the worm and gear motor 1.
[0056] The round hole on the outer hinge 20 is adapted to the fixed hole of the pipe clamp 13, and the pipe clamp 13 is fixed on the outer hinge 20. The round hole of the pipe clamp 13 has the same diameter as the carbon fiber tube 17 or the carbon fiber tube 18, and the direction of the carbon fiber tube is perpendicular to the chord length direction of the folding inner wing 11.
[0057] Eight worm and gear motors 1 distribute and transfer the load to prevent stress concentration from damaging the UAV structure.
[0058] The gaps between the main body 10 and the folding inner wing 11, and between the folding inner wing 11 and the folding outer wing 15 are very small.
[0059] There are many specific implementation approaches for the present invention. The above description is only the preferred implementation manner of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements can be made, and these improvements should also be regarded as the protection scope of the present invention.
Claims
1. A foldable variant unmanned aerial vehicle for implementing distributed loads, characterized in that, The distributed load folding variant UAV main fuselage (10), a pair of folding inner wings (11), and a pair of folding outer wings (12). The pair of folding inner wings (11) are symmetrically installed on both sides of the main fuselage (10) and are connected to the main fuselage (10) through an inner folding drive mechanism. The pair of folding outer wings (12) are installed on the outer sides of the folding inner wings (11), and the two are connected through an outer folding drive mechanism. Among them, the pair of folding inner wings (11) keep synchronous flipping, the pair of folding outer wings (12) keep synchronous flipping, and the pair of folding outer wings (12) always remain in a horizontal state during the folding and unfolding process of the UAV.
2. The foldable variant unmanned aerial vehicle for realizing distributed load according to claim 1, wherein The inner folding drive mechanism includes an inner hinge one (4), an outer hinge one (5), a first worm and gear motor (1a), and a first four-bar linkage. The inner hinge one (4) is fixedly installed on a first carbon fiber board (15), and the first carbon fiber board (15) is fixed on the main fuselage (10). The outer hinge one (5) is fixedly installed on a first carbon fiber tube (14), and the first carbon fiber tube (14) is fixed on the folding inner wing (11). The inner hinge one (4) and the outer hinge one (5) are rotationally connected through a first pin shaft (9a), so that the folding inner wing (11) is rotationally connected to the main fuselage (10). The housing of the first worm and gear motor (1a) is fixedly installed beside the inner hinge one (4), and its output shaft is connected to the outer hinge one (5) through a first four-bar linkage, so as to drive the outer hinge one (5) to reciprocally flip through the first worm and gear motor (1a).
3. The foldable variant unmanned aerial vehicle for realizing distributed load according to claim 2, wherein, The first four-bar linkage includes a first crank (2a), a first rocker (3a), a first outer pin shaft (7a), and a first intermediate pin shaft (8a). One end of the first crank (2a) is rotationally connected to the output shaft of the first worm and gear motor (1a), and the other end is rotationally connected to the first rocker (3a) through the first intermediate pin shaft (8a). The other end of the first rocker (3a) is rotationally connected to the outer hinge one (5) through the first outer pin shaft (7a). The output shaft of the first worm and gear motor (1a), the first intermediate pin shaft (8a), the first outer pin shaft (7a), and the first pin shaft (9a) are at the four vertices of a quadrilateral.
4. A foldable variant unmanned aerial vehicle for implementing distributed loads according to claim 1, wherein, The outer folding drive mechanism includes an inner hinge two (19), an outer hinge two (20), a second worm and gear motor (1b), and a second four-bar linkage. The inner hinge two (19) is fixedly installed on a second carbon fiber board (16), and the second carbon fiber board (16) is fixed on the folding inner wing (11). The outer hinge two (20) is fixedly installed on a second carbon fiber tube (18), and the second carbon fiber tube (18) is fixedly connected to the folding outer wing (12). The inner hinge two (19) and the outer hinge two (20) are rotationally connected through a second pin shaft (9b), so that the folding outer wing (12) is rotationally connected to the folding inner wing (11). The housing of the second turbo worm motor (1b) is fixedly installed beside the second inner hinge (19), and its output shaft is connected to the second outer hinge (20) through a second four-bar linkage mechanism, so as to drive the second outer hinge (20) to reciprocate and flip through the second turbo worm motor (1b).
5. A foldable variant unmanned aerial vehicle for implementing distributed load according to claim 4, characterized in that, The second four-bar linkage mechanism includes a second crank (2b), a second rocker (3b), a second outer pin shaft (7b) and a second intermediate pin shaft (8b); one end of the second crank (2b) is rotatably connected to the output shaft of the second turbo worm motor (1b), and the other end is rotatably connected to the second rocker (3b) through the second intermediate pin shaft (8b), and the other end of the second rocker (3b) is rotatably connected to the second outer hinge (20) through the second outer pin shaft (7b); the output shaft of the second turbo worm motor (1b), the second intermediate pin shaft (8b), the second outer pin shaft (7b) and the second pin shaft (9b) are located at the four vertices of a quadrilateral.
6. A foldable variant unmanned aerial vehicle for implementing distributed load according to claim 1, characterized in that, The angular velocities of the first turbo worm motor (1a) and the second turbo worm motor (1b) are the same and the directions are opposite.
7. A foldable variant unmanned aerial vehicle for implementing distributed load according to claim 1, wherein, Two inner folding drive mechanisms are provided between the main body (10) and each folding inner wing (11), and two outer folding drive mechanisms are provided between the folding inner wing (11) and the folding outer wing (12).