Unmanned aerial vehicle wing folding mechanism and unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle wing folding mechanism and an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle wing folding mechanism comprises a vehicle body, an inner cavity is formed in the vehicle body, a guide rail is fixedly connected to the inner wall of the inner cavity, a sliding block is slidably connected to the interior of the guide rail, a first fixing pin is fixedly connected to the upper surface of the sliding block, and a connecting rod is rotatably connected to the outer surface of the first fixing pin; the bottom end of the second fixing pin is fixedly connected with a wing, the interior of the wing is rotatably connected with a positioning shaft, the lower surface of the wing is fixedly connected with a fixing rod, the lower surface of the sliding block is fixedly connected with a connecting plate, and the middle of the lower surface of the connecting plate is fixedly connected with a connecting rod; according to the unmanned aerial vehicle disclosed by the invention, simple and rapid folding of the wings is realized, the wings can be in an optimal unfolding state in the whole flight process, and the safety and the wind resistance are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a wing folding mechanism for a UAV and the UAV. Background Art

[0002] A drone is an aircraft that flies by remote control or autonomous programming without the need for a pilot on board. It consists of core components such as a flight platform, power system, navigation and control system, mission payload, and communication equipment. It is widely used in military reconnaissance, agricultural plant protection, logistics and distribution, aerial filming, environmental monitoring, emergency rescue, and other fields. Drones can be divided into military (such as reconnaissance aircraft and attack aircraft) and civilian (such as consumer-grade aerial photography drones and industrial inspection aircraft) according to their use; and according to their flight mode, they include fixed-wing, multi-rotor, and vertical take-off and landing (VTOL) types. Its core technologies involve aerodynamics, artificial intelligence, sensor fusion, and 5G communications, and it has the advantages of high flexibility, low cost, and the ability to avoid personnel risks.

[0003] Traditional drone wing folding mechanisms often require cumbersome user manipulation to fold and unfold the wings, reducing efficiency and increasing operational difficulty. Furthermore, traditional folding wings have inherent limitations in flight stability. Due to insufficient structural strength at the folding hinges, the wing joints experience millimeter-level elastic deformation during turbulence or maneuvers. These micro-vibrations are transmitted through the wings to the entire flight platform, causing persistent attitude oscillations and compromising the drone's flight safety. Summary of the Invention

[0004] In response to the shortcomings of the existing problems, the present invention provides a drone wing folding mechanism and a drone to solve the problems raised in the above background technology, such as the cumbersome operation of the traditional wing folding mechanism resulting in low efficiency, and the insufficient strength of the hinge structure causing elastic deformation and attitude oscillation affecting flight safety.

[0005] To solve the above problems, the unmanned aerial vehicle wing folding mechanism and the unmanned aerial vehicle are realized by the following technical scheme: a kind of unmanned aerial vehicle wing folding mechanism and unmanned aerial vehicle, including body, the inside of the body is provided with internal cavity, the inner wall of the internal cavity is fixedly connected with guide rail, the inside of the guide rail is slidably connected with sliding block, the upper surface of the sliding block is fixedly connected with first fixed pin, the outer surface of the first fixed pin is rotatably connected with connecting rod, the end of the connecting rod away from the first fixed pin is rotatably connected with second fixed pin, the bottom of the second fixed pin is fixedly connected with wing, the inside of the wing is rotatably connected with positioning shaft, the lower surface of the wing is fixedly connected with fixed rod, the lower surface of the sliding block is fixedly connected with connecting plate, the middle of the lower surface of the connecting plate is fixedly connected with connecting rod, the bottom of the connecting rod is fixedly connected with adjusting block, the lower surface of the body is fixedly connected with limiting mechanism and tensioning mechanism, the tensioning mechanism includes telescopic pneumatic cylinder, the output end of the telescopic pneumatic cylinder is fixedly connected with fixed block, the upper surface of the fixed block is fixedly connected with fixed column, the outer surface of the fixed column is provided with first rope groove, the inside of the first rope groove is fixedly connected with tensioning rope.

[0006] Preferably, the bottom of the internal cavity is provided with a first through groove and a second through groove, the first through groove and the second through groove extend to the lower surface of the body, the outer surface of the connecting rod penetrates the first through groove, and the outer surface of the fixed rod penetrates the second through groove.

[0007] Preferably, the guide rail, the sliding block, the first fixed pin, the connecting rod, the second fixed pin, the wing, the first through groove, the second through groove and the tensioning mechanism are symmetrically provided with two groups, the sliding block is fixedly connected to the two ends of the upper surface of the connecting plate, and the limiting mechanism is symmetrically arranged at the two ends of the first through groove.

[0008] Preferably, the two sides of the body are symmetrically provided with receiving grooves, the inside of the receiving groove is matched with the wing, and the bottom of the internal cavity is fixedly connected with the bottom of the positioning shaft.

[0009] Preferably, the limiting mechanism includes a limiting block, the top of the limiting block is fixedly connected to the lower surface of the body, a plug rod is sleeved on one side of the limiting block, a limiting groove is formed in one side of the adjusting block, and the outer surface of the plug rod is matched with the inside of the limiting groove.

[0010] Preferably, the outer surface of the plug rod is fixedly connected with a first fixed plate, one end of the plug rod is fixedly connected with a pull block, the pull block is arranged on the outside of the limiting block, and the first fixed plate is arranged in the inner cavity of the limiting block.

[0011] Preferably, a reset spring is sleeved on the outer surface of the plug rod, one end of the reset spring is fixedly connected to the outer surface of the first fixed plate, and the end of the reset spring away from the first fixed plate is fixedly connected to the inner surface of the limiting block.

[0012] Preferably, the end of the telescopic cylinder away from the fixed block is fixedly connected to a second fixed plate, the top of the second fixed plate is fixedly connected to the lower surface of the body, a guide groove is provided on the lower surface of the body, the top of the fixed column is fixedly connected to a connecting block, and the top of the connecting block is slidably connected to the inside of the guide groove.

[0013] Preferably, a second rope groove is provided on the outer surface of the fixing rod, an end of the tensioning rope away from the fixing column is arranged in the second rope groove, and a pressure sensor is provided on the inner surface of the second rope groove.

[0014] The present invention provides a UAV wing folding mechanism and a UAV, which have the following beneficial effects:

[0015] 1. The wing folding mechanism of the UAV and the UAV realizes simple and fast folding of the wings through the linkage design of the guide rail slider and the connecting rod. The user only needs to move the adjustment block to drive the connecting rod and the wing to fold or unfold, which is convenient to operate and greatly improves the use efficiency.

[0016] 2. The wing folding mechanism of the UAV and the UAV realize mechanical locking of the wing state by setting a limit mechanism. The spring return of the insertion rod and the limit slot cooperates to automatically lock the adjustment block in the folded / expanded position, ensuring that the wing is stable and not loose during storage or flight, thereby improving structural reliability.

[0017] 3. The wing folding mechanism of the UAV and the UAV solves the problem of dynamic stability after the wing is unfolded by setting a tensioning mechanism. The telescopic cylinder drives the tensioning rope to apply tension to the fixed rod, so that the wing remains taut when unfolded, improving the stability of the wing, enabling the wing to effectively resist airflow disturbances and enhance flight attitude control.

[0018] 4. The wing-folding mechanism of the UAV and the UAV realize intelligent monitoring and adaptive adjustment of wing tension through the cooperation of the tensioning mechanism and the pressure sensor on the fixed rod. The pressure sensor feeds back the tensioning rope pressure value to the flight control system in real time. When insufficient pressure is detected, such as relaxation caused by vibration, the telescopic cylinder is automatically triggered to retract the tensioning rope, ensuring that the wings are in the optimal deployment state throughout the flight, significantly improving safety and wind resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the structure of the UAV of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the body of the present invention;

[0021] Figure 3 Schematic diagram of the structure of the wing folding mechanism of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the wing and guide rail of the present invention;

[0023] Figure 5 It is a structural schematic diagram of the adjustment block and the limiting mechanism of the present invention;

[0024] Figure 6 It is a schematic cross-sectional view of the adjusting block and the limiting mechanism of the present invention;

[0025] Figure 7 It is a structural schematic diagram of the tensioning mechanism of the present invention.

[0026] In the figure: 1. body; 2. storage slot; 3. inner cavity; 4. guide rail; 5. slider; 6. first fixing pin; 7. connecting rod; 8. second fixing pin; 9. wing; 10. positioning shaft; 11. connecting plate; 12. connecting rod; 13. adjusting block; 14. first through slot; 15. second through slot; 16. limiting slot; 17. limiting mechanism; 171. limiting stopper shell; 172. inserting rod; 173. first fixing plate; 174. return spring; 175. pulling block; 18. tensioning mechanism; 181. telescopic cylinder; 182. second fixing plate; 183. fixing block; 184. fixing column; 185. first rope groove; 186. tensioning rope; 187. connecting block; 19. guide groove; 20. fixing rod; 21. second rope groove; 22. pressure sensor. DETAILED DESCRIPTION

[0027] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for purposes of illustration and description and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments are chosen and described to better illustrate the principles of the invention and its practical application, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for specific applications.

[0028] like Figures 1-7As shown, the present invention provides a technical solution: a wing folding mechanism for a UAV and a UAV, comprising a body 1, an internal cavity 3 is provided inside the body 1, the inner wall of the internal cavity 3 is fixedly connected to a guide rail 4, a slider 5 is slidably connected inside the guide rail 4, the upper surface of the slider 5 is fixedly connected to a first fixing pin 6, the outer surface of the first fixing pin 6 is rotatably connected to a connecting rod 7, the end of the connecting rod 7 away from the first fixing pin 6 is rotatably connected to a second fixing pin 8, the bottom end of the second fixing pin 8 is fixedly connected to a wing 9, the interior of the wing 9 is rotatably connected to a positioning shaft 10, and the lower surface of the wing 9 is fixedly connected to a fixed pin 6. The fixed rod 20 and the lower surface of the slider 5 are fixedly connected with a connecting plate 11, and a connecting rod 12 is fixedly connected to the middle of the lower surface of the connecting plate 11. The bottom end of the connecting rod 12 is fixedly connected to the adjusting block 13. The lower surface of the body 1 is fixedly connected to a limiting mechanism 17 and a tensioning mechanism 18. The tensioning mechanism 18 includes a telescopic cylinder 181, and the output end of the telescopic cylinder 181 is fixedly connected to a fixed block 183. The upper surface of the fixed block 183 is fixedly connected to a fixed column 184. The outer surface of the fixed column 184 is provided with a first rope groove 185, and the interior of the first rope groove 185 is fixedly connected to a tensioning rope 186.

[0029] A first through groove 14 and a second through groove 15 are provided at the bottom of the internal cavity 3. The first through groove 14 and the second through groove 15 both extend to the lower surface of the body 1. The outer surface of the connecting rod 12 passes through the first through groove 14, and the outer surface of the fixing rod 20 passes through the second through groove 15. The first through groove 14 provides a movable channel for the connecting rod 12 to ensure the linear motion trajectory of the connecting rod 12 during the folding and unfolding of the wing 9. The second through groove 15 provides a movable channel for the fixing rod 20 to ensure the motion trajectory of the fixing rod 20 during the folding and unfolding of the wing 9.

[0030] The guide rail 4, slider 5, first fixing pin 6, connecting rod 7, second fixing pin 8, wing 9, first through slot 14, second through slot 15 and tensioning mechanism 18 are symmetrically arranged in two groups. The slider 5 is fixedly connected to the two ends of the upper surface of the connecting plate 11. The limiting mechanism 17 is symmetrically arranged at both ends of the first through slot 14. The symmetrically arranged guide rail 4 and slider 5 system ensures the synchronous movement of the double wings 9. The connecting plate 11 serves as the core transmission component to coordinate the linkage of the mechanisms on both sides.

[0031] Storage grooves 2 are symmetrically arranged on both sides of the body 1. The interior of the storage grooves 2 is adapted to the wings 9. The bottom end of the positioning shaft 10 is fixedly connected to the bottom of the internal cavity 3. The adaptive design of the storage grooves 2 enables the wings 9 to be completely embedded in the body 1 after folding. The positioning shaft 10 is the rotation center of the wings 9.

[0032] The limiting mechanism 17 comprises a limiting baffle shell 171, the top of the limiting baffle shell 171 is fixedly connected to the lower surface of the machine body 1, one side of the limiting baffle shell 171 is sleeved with a plug rod 172, one side of the adjusting block 13 is provided with a limiting groove 16, the outer surface of the plug rod 172 is matched with the inner part of the limiting groove 16, the precise fit between the plug rod 172 and the limiting groove 16 realizes mechanical interlocking, which facilitates the restriction of the wing 9 in the folded state or the unfolded state.

[0033] The outer surface of the plug rod 172 is fixedly connected with a first fixed plate 173, one end of the plug rod 172 is fixedly connected with a pull block 175, the pull block 175 is arranged outside the limiting baffle shell 171, the first fixed plate 173 is arranged in the inner cavity of the limiting baffle shell 171, and the reset spring 174 provides elastic pre-tightening force to ensure that the plug rod 172 is always in a locked state.

[0034] The outer surface of the plug rod 172 is sleeved with a reset spring 174, one end of the reset spring 174 is fixedly connected to the outer surface of the first fixed plate 173, the end of the reset spring 174 away from the first fixed plate 173 is fixedly connected to the inner surface of the limiting baffle shell 171, and the guide groove 19 is used for limiting the movement path of the connecting block 187, so that the fixed column 184 can stably move along the guide groove 19 under the driving of the telescopic air cylinder 181, thereby realizing the tensioning and relaxing operation of the tensioning rope 186.

[0035] The telescopic air cylinder 181 is fixedly connected with a second fixed plate 182 away from the fixed block 183, the top of the second fixed plate 182 is fixedly connected to the lower surface of the machine body 1, the lower surface of the machine body 1 is provided with a guide groove 19, the top of the fixed column 184 is fixedly connected with a connecting block 187, and the top of the connecting block 187 is slidingly connected in the inner part of the guide groove 19; the telescopic air cylinder 181 is a main power component of the tensioning mechanism 18 and is used for adjusting the tensioning state of the tensioning rope 186.

[0036] The outer surface of the fixed rod 20 is provided with a second rope groove 21, one end of the tensioning rope 186 away from the fixed column 184 is arranged in the second rope groove 21, and the inner surface of the second rope groove 21 is provided with a pressure sensor 22; the pressure sensor 22 can monitor the tension change of the tensioning rope 186 in real time; when the wing 9 vibrates due to air flow and other factors, the tension of the tensioning rope 186 will change, the pressure sensor 22 can perceive the change and transmit a signal to the controller of the unmanned aerial vehicle, so that the controller can make timely adjustment to ensure the flight stability of the unmanned aerial vehicle.

[0037] The working principle of the above embodiment is as follows:

[0038] When the wing 9 needs to be folded, the two sets of telescopic cylinders 181 are controlled to extend to the longest length, so that the tensioning rope 186 is in a loose state, and then the pulling block 175 of the limit mechanism 17 near the nose is pulled outward, the insertion rod 172 moves accordingly, the return spring 174 is compressed, and then the adjusting block 13 is pushed in the direction of the nose, the connecting rod 12 moves along the first through slot 14, and the connecting plate 11 drives the two sets of sliders 5 to move along the guide rail 4, and the connecting rod 7 pulls the second fixing pin 8 on the wing 9 so that the wing 9 rotates toward the tail relative to the positioning axis 10. When the adjusting block 13 moves to the limit stop shell 171 of the limit mechanism 17 near the nose, the limit groove 16 on the adjusting block 13 is aligned with the insertion rod 172, and the wing 9 completely enters the storage slot 2. At this time, the pulling block 175 is released, and under the elastic force of the return spring 174, the insertion rod 172 is inserted into the limit groove 16, so that the adjusting block 13 is restricted to the current position, and the wing 9 remains in the folded state.

[0039] When the wings 9 need to be unfolded, the pull block 175 near the nose is pulled outward, driving the insertion rod 172 to leave the limit slot 16 on the adjustment block 13, and the adjustment block 13 is moved toward the tail. After the adjustment block 13 leaves the limit stop shell 171 near the nose, the pull block 175 at this location is released, and then the pull block 175 away from the nose is pulled outward. The corresponding return spring 174 is compressed, and the wings 9 are gradually unfolded in the process of moving the adjustment block 13 toward the tail. When the adjustment block 13 moves into the limit stop shell 171 away from the nose, the pull block 175 at this location is released, so that the return spring 174 at this location drives the insertion rod 172 to insert into the limit slot 16 of the adjustment block 13. At this time, the wings 9 are fully unfolded, and the limit mechanism 17 away from the nose keeps the wings 9 in the unfolded state. Then, make sure that the tensioning rope 186 is away from the fixed One end of the column 184 is in the second rope groove 21 on the fixed rod 20, controlling the telescopic cylinder 181 to shorten until the tensioning rope 186 is in a taut state. At this time, the tensioning rope 186 is pressed against the pressure sensor 22, and the pressure sensor 22 monitors the tension of the tensioning rope 186 in real time. The taut tensioning rope 186 applies tension to the fixed rod 20, so that the wing 9 is more stably in the deployed state. During the flight of the drone, if the wing 9 vibrates slightly due to the airflow, the pressure of the tensioning rope 186 on the pressure sensor 22 will change. At this time, the pressure sensor 22 will transmit a signal to the drone controller, which controls the telescopic cylinder 181 to shorten, driving the tensioning rope 186 to tighten until the pressure on the pressure sensor 22 is within the appropriate threshold, thereby ensuring the stability of the wing 9.

[0040] Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without making creative efforts should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention shall be implemented in accordance with conventional means in the field unless otherwise specified or limited.

Claims

1. A UAV wing folding mechanism and a UAV, comprising a body (1), characterized in that: The body (1) is provided with an internal cavity (3), the inner wall of the internal cavity (3) is fixedly connected to a guide rail (4), the interior of the guide rail (4) is slidably connected to a slider (5), the upper surface of the slider (5) is fixedly connected to a first fixing pin (6), the outer surface of the first fixing pin (6) is rotatably connected to a connecting rod (7), the end of the connecting rod (7) away from the first fixing pin (6) is rotatably connected to a second fixing pin (8), the bottom end of the second fixing pin (8) is fixedly connected to a wing (9), the interior of the wing (9) is rotatably connected to a positioning shaft (10), the lower surface of the wing (9) is fixedly connected to a fixing rod (20), and the lower surface of the slider (5) is fixedly connected to A connecting plate (11) is connected, a connecting rod (12) is fixedly connected to the middle of the lower surface of the connecting plate (11), the bottom end of the connecting rod (12) is fixedly connected to an adjusting block (13), the lower surface of the machine body (1) is fixedly connected to a limiting mechanism (17) and a tensioning mechanism (18), the tensioning mechanism (18) comprises a telescopic cylinder (181), the output end of the telescopic cylinder (181) is fixedly connected to a fixed block (183), the upper surface of the fixed block (183) is fixedly connected to a fixed column (184), the outer surface of the fixed column (184) is provided with a first rope groove (185), the interior of the first rope groove (185) is fixedly connected to a tensioning rope (186).

2. The UAV wing folding mechanism and the UAV according to claim 1, characterized in that: A first through slot (14) and a second through slot (15) are provided at the bottom of the internal cavity (3), both of which extend to the lower surface of the body (1), the outer surface of the connecting rod (12) passes through the first through slot (14), and the outer surface of the fixing rod (20) passes through the second through slot (15).

3. The UAV wing folding mechanism and the UAV according to claim 2, characterized in that: The guide rail (4), the slider (5), the first fixing pin (6), the connecting rod (7), the second fixing pin (8), the wing (9), the first through slot (14), the second through slot (15) and the tensioning mechanism (18) are symmetrically arranged in two groups. The slider (5) is fixedly connected to the two ends of the upper surface of the connecting plate (11), and the limiting mechanism (17) is symmetrically arranged at the two ends of the first through slot (14).

4. The UAV wing folding mechanism and the UAV according to claim 1, characterized in that: The two sides of the body (1) are symmetrically provided with receiving grooves (2), the interior of the receiving grooves (2) is adapted to the wings (9), and the bottom end of the positioning shaft (10) is fixedly connected to the bottom of the internal cavity (3).

5. The UAV wing folding mechanism and the UAV according to claim 1, characterized in that: The limiting mechanism (17) comprises a limiting stop shell (171), the top of the limiting stop shell (171) is fixedly connected to the lower surface of the machine body (1), an insertion rod (172) is sleeved on one side of the limiting stop shell (171), a limiting slot (16) is provided on one side of the adjustment block (13), and the outer surface of the insertion rod (172) is adapted to the interior of the limiting slot (16).

6. The UAV wing folding mechanism and the UAV according to claim 5, characterized in that: The outer surface of the insertion rod (172) is fixedly connected to a first fixing plate (173), one end of the insertion rod (172) is fixedly connected to a pull block (175), the pull block (175) is arranged on the outside of the limit stop shell (171), and the first fixing plate (173) is arranged in the inner cavity of the limit stop shell (171).

7. The UAV wing folding mechanism and the UAV according to claim 6, characterized in that: The outer surface of the insertion rod (172) is sleeved with a return spring (174), one end of the return spring (174) is fixedly connected to the outer surface of the first fixed plate (173), and the end of the return spring (174) away from the first fixed plate (173) is fixedly connected to the inner surface of the limit stop shell (171).

8. The UAV wing folding mechanism and the UAV according to claim 1, characterized in that: One end of the telescopic cylinder (181) away from the fixed block (183) is fixedly connected to a second fixed plate (182), the top of the second fixed plate (182) is fixedly connected to the lower surface of the machine body (1), the lower surface of the machine body (1) is provided with a guide groove (19), the top of the fixed column (184) is fixedly connected to a connecting block (187), and the top of the connecting block (187) is slidably connected to the inside of the guide groove (19).

9. The UAV wing folding mechanism and the UAV according to claim 1, characterized in that: A second rope groove (21) is provided on the outer surface of the fixing rod (20), one end of the tensioning rope (186) away from the fixing column (184) is arranged in the second rope groove (21), and a pressure sensor (22) is provided on the inner surface of the second rope groove (21).

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