A self-locking power commutation device driven by propeller anti-torque

Abstract

This invention discloses a self-locking power commutation device driven by propeller anti-torque, relating to the field of aircraft design technology. It includes a power mounting rod, one end of which is fixedly connected to the aircraft fuselage, and the other end of which is connected to one end of a rotating support unit. The other end of the rotating support unit is connected to a power unit. A self-locking unit is provided at the connection between the rotating support unit and the power mounting rod, used to lock the rotating support unit in both horizontal and vertical positions. This invention employs a self-locking power commutation device driven by propeller anti-torque, suitable for high-aspect-ratio, low-speed unmanned aerial vehicles (UAVs) with multi-modal control strategies. In the horizontal position, it can overcome the problem of collision between the UAV's power system and the ground, and in the vertical position, it can provide optimal control torque for flight.

Description

Technical Field

[0001] This invention relates to the field of aircraft design technology, and in particular to a self-locking power commutation device driven by the anti-torque of a propeller. Background Technology

[0002] Currently, solar-powered drones are widely used in high-altitude information relay, meteorological observation, and border patrol missions due to their green energy supply and long endurance. To improve aerodynamic efficiency, more and more solar-powered drones are adopting a flying wing configuration, eliminating the tail and using the wings themselves to simultaneously generate lift and control attitude, offering advantages in weight reduction and improved lift-to-drag ratio compared to conventional configurations. However, the large aspect ratio and high structural flexibility of solar-powered drone wings bring several control challenges: First, when using elevons for pitch and roll control, the flexible deformation of the wings may lead to aileron reversal, causing loss of aircraft attitude control. Second, if differential control is performed using the difference in motor thrust caused by the elastic deformation of the wings, the aeroelastic deformation can easily cause control law turbulence, resulting in the aircraft becoming uncontrollable. Third, because the flying wing is a flexible structure, it lacks effective modal suppression methods and is highly susceptible to flutter under gusts or turbulent disturbances, thus threatening flight safety.

[0003] Among existing solar-powered flying-wing drones, well-known models such as the "Helios" drone developed by Aerospace Industries and the "Aquila" drone developed by Facebook have all crashed during test flights due to turbulence. Therefore, improvements are needed in control methods and devices to enhance control efficiency and operational safety.

[0004] To address the aforementioned issues, direct force control via the propulsion system can effectively improve control efficiency and flight safety, but it also faces the following contradictions: On the one hand, if a horizontally distributed propulsion system is used, the limited space distribution of the airframe structure will lead to insufficient lever arm and control efficiency; on the other hand, if two vertically distributed propulsion systems are used, increasing the landing gear height will result in excessive weight and drag, which contradicts the goal of ultra-long endurance flight. However, currently there is no device or method that can freely switch and reliably lock two adjacent propulsion systems between horizontal and vertical distribution modes. Summary of the Invention

[0005] The purpose of this invention is to provide a self-locking power commutation device driven by propeller anti-torque, which solves the technical problems of poor locking reliability, high power consumption, complex structure and difficult maintenance in the prior art, realizes the precise switching and reliable fixation of the UAV power system in the horizontal and vertical positions, and adapts to the use requirements of solar-powered flying wing UAVs with multi-modal control strategies.

[0006] To achieve the above objectives, the present invention provides a self-locking power reversing device driven by propeller anti-torque, comprising a power mounting rod, one end of which is fixedly connected to the aircraft fuselage, the other end of which is connected to one end of a rotating support unit, and the other end of the rotating support unit is connected to a power unit.

[0007] A self-locking unit is provided at the connection between the rotating support unit and the power mounting rod. The self-locking unit is used to lock the rotating support unit in both horizontal and vertical positions.

[0008] Preferably, the rotating support unit includes a motor arm, which includes a bottom connecting arm and two upper support arms. One end of the two upper support arms is connected to the upper end of the bottom connecting arm, and the other end of each of the two upper support arms is provided with a power mounting seat.

[0009] A carbon fiber retaining ring is connected to the bottom connecting arm. Both ends of the carbon fiber retaining ring are provided with gaskets, and the cross-section of the gaskets is the same as that of the carbon fiber retaining ring.

[0010] The bottom end of the bottom connecting arm is inserted into the power mounting rod, and the insertion area is sprayed with a molybdenum disulfide or PTFE-based anti-friction coating to form a dense lubricating film on the outer wall of the bottom connecting arm and the inner wall of the power mounting rod.

[0011] Preferably, the self-locking unit includes a limiting component, a reversing component, and an actuating component. One end of the actuating component is connected to the upper support arm, and the other end of the actuating component is connected above the reversing component. The reversing component is connected above the limiting component.

[0012] Preferably, the limiting component includes a limiting cylinder, the limiting cylinder is configured with an open structure, and two locking lugs are symmetrically arranged in the open area of ​​the limiting cylinder, the two locking lugs being locked together by a locking member and a fixing member;

[0013] The upper outer edge of the limiting cylinder is provided with a wall panel and three sets of grooves. Each set of grooves includes a connecting limiting slot and a guide slope. The wall panel is connected to a step plate. The step plate is set on the inner wall of the limiting cylinder. The step plate cooperates with the gasket to axially limit the gasket.

[0014] Each set of wall panels and each set of grooves occupies a 90° area of ​​the limiting cylinder along the circumferential direction.

[0015] Preferably, the limiting cylinder is connected to the power mounting rod, the carbon fiber fixing ring, and the bottom connecting arm in sequence from bottom to top;

[0016] Wherein, at the mating area between the limiting cylinder and the power mounting rod, the inner diameter of the limiting cylinder is the same as the outer diameter of the power mounting rod;

[0017] At the mating area between the limiting cylinder and the carbon fiber fixing ring, the inner diameter of the limiting cylinder is larger than the outer diameter of the carbon fiber fixing ring.

[0018] At the mating area between the limiting cylinder and the bottom connecting arm, the inner diameter of the limiting cylinder is larger than the outer diameter of the bottom connecting arm.

[0019] Preferably, the reversing assembly includes a connecting base, and two sets of protrusions are provided below the connecting base. Each set of protrusions occupies a 90° area of ​​the connecting base in the circumferential direction, and the curve of the protrusion matches the curve of the groove.

[0020] Two connecting plates are symmetrically arranged on both sides of the connecting base.

[0021] Preferably, a compression spring is also provided above the connecting base, one end of the compression spring is in contact with the upper surface of the connecting base, the other end of the compression spring is fixedly connected to the spring base, and the spring base is fixedly connected to the outside of the bottom connecting arm.

[0022] Preferably, the actuation assembly includes an actuating arm connected to the connecting plate, the upper end of the actuating arm being connected to a transverse plate, a linear servo being connected above the transverse plate, and a servo mounting bracket being connected to the linear servo.

[0023] Preferably, the power unit is provided in two sets, each set of the power unit includes a motor connected to the power mounting base, and a propeller is connected to the motor. The two sets of propellers are counter-rotating propellers.

[0024] Therefore, the present invention employs the above-mentioned self-locking power commutation device driven by propeller anti-torque, which has the following beneficial effects:

[0025] (1) In terms of driving method, the present invention adopts propeller torque drive, which does not require an additional drive motor, significantly reduces system weight and power consumption, which is of great significance for UAV applications that pursue lightweight and long endurance.

[0026] (2) In terms of locking reliability, the present invention adopts the mechanical self-locking principle, which can maintain reliable locking even when the linear servo is powered off or in a fault state, and the locking strength is far superior to the existing electromagnetic locking scheme.

[0027] (3) In terms of positioning accuracy, the present invention achieves high-precision positioning and excellent repeatability by means of the guiding effect of the guide slope and the limiting effect of the limiting slot, which is significantly improved compared with the existing scheme.

[0028] (4) In terms of service life, the self-lubricating system ensures the long-term stable operation of the mechanism, and the expected service life is much longer than that of traditional grease lubrication solutions.

[0029] (5) Regarding the weight of the device, the present invention achieves a significant weight reduction effect by using lightweight, high-strength materials and a highly integrated mechanical structure design. Compared with the traditional motor drive scheme, the present invention does not require an additional drive device, resulting in a significant reduction in required weight; in addition, by combining lightweight components such as carbon fiber retaining rings and gaskets, the weight is reduced compared with the traditional scheme, which is of great significance for UAV applications that pursue lightweight design.

[0030] (6) In terms of maintenance convenience, the present invention adopts a modular design, and key components can be replaced independently, which greatly reduces maintenance costs.

[0031] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of an embodiment of a self-locking power commutation device driven by propeller anti-torque according to the present invention.

[0033] Figure 2 This is a schematic diagram of the power mounting rod of a self-locking power reversing device driven by propeller anti-torque according to the present invention.

[0034] Figure 3 This is a schematic diagram of the rotating support unit of a self-locking power reversing device driven by propeller anti-torque according to the present invention.

[0035] Figure 4 for Figure 3 Enlarged structural diagram of point A;

[0036] Figure 5 This is a schematic diagram of the power unit of a self-locking power commutation device driven by propeller anti-torque according to the present invention.

[0037] Figure 6 This is a schematic diagram of the structure of the self-locking unit of a self-locking power reversing device driven by the reverse torque of a propeller according to the present invention.

[0038] Figure 7 This is a schematic diagram of the limiting component of a self-locking power reversing device driven by propeller anti-torque according to the present invention.

[0039] Figure 8 This is a schematic diagram of the circumferential component of a self-locking power commutation device driven by propeller anti-torque according to the present invention.

[0040] Figure 9 This is a schematic diagram of the locking stage A state of a self-locking power commutation device driven by propeller anti-torque according to the present invention.

[0041] Figure 10 This is a schematic diagram of the unlocking phase of a self-locking power reversing device driven by propeller anti-torque according to the present invention.

[0042] Figure 11 This is a schematic diagram of the rotational phase state of a self-locking power reversing device driven by the reverse torque of a propeller according to the present invention.

[0043] Figure 12 This is a schematic diagram of the unlocking stage B state of a self-locking power commutation device driven by propeller anti-torque according to the present invention.

[0044] Figure 13 This invention relates to a solar-powered flying wing unmanned aerial vehicle in the locked phase A state of a self-locking power commutation device driven by propeller anti-torque.

[0045] Figure 14 This invention relates to a solar-powered flying wing UAV in the locked phase B state of a self-locking power commutation device driven by a propeller anti-torque.

[0046] Reference numerals: 1. Power mounting rod; 11. Mounting hole; 2. Rotary support unit; 211. Bottom connecting arm; 212. Upper support arm; 22. Power mounting seat; 23. Carbon fiber retaining ring; 24. Gasket; 3. Power unit; 31. Motor; 32. Propeller; 4. Self-locking unit; 41. Limiting assembly; 411. Limiting cylinder; 412. Locking lug; 413. Locking element; 414. Fixing element; 415. Wall panel; 416. Limiting slot; 417. Guide slope; 418. Step plate; 42. Reversing assembly; 421. Connecting base; 422. Protrusion; 423. Connecting plate; 43. Actuating assembly; 431. Actuating arm; 432. Lateral plate; 433. Linear servo; 434. Servo mounting bracket; 441. Compression spring; 442. Spring base. Detailed Implementation

[0047] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0048] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0049] Example

[0050] Please see Figures 1-14 This invention provides a self-locking power reversing device driven by the reverse torque of a propeller, including a power mounting rod 1. The power mounting rod 1 has mounting holes 11 for fixed connection to the aircraft fuselage. The power mounting rod 1 serves as a rotation axis, capable of withstanding the radial and axial loads of the propeller 32 during operation, ensuring no radial displacement of the rotating support body when it rotates around it. The clearance between the power mounting rod 1 and the bottom connecting arm 211 is controlled between 0.1mm and 0.2mm (too large a clearance can easily lead to radial wobble, while too small a clearance will hinder rotation). The inner wall of the power mounting rod 1 is clearance-fitted with the outer wall of the bottom connecting arm 211, and the outer wall is rigidly connected to the fuselage at both ends for fixation.

[0051] The other end of the power mounting rod 1 is connected to one end of the rotating support unit 2. The rotating support unit 2 can rotate and lock around the power mounting rod 1 under the counter-torque drive of the propeller 32. The other end of the rotating support unit 2 is connected to the power unit 3, which provides the thrust required for the UAV to fly. It has two spatial distribution forms: 0° (horizontal position) and 90° (vertical position). A self-locking unit 4 is provided at the connection between the rotating support unit 2 and the power mounting rod 1. The self-locking unit 4 is used to lock the rotating support unit 2 in the horizontal and vertical positions.

[0052] This device is an integrated mechanism that combines power transmission, rotation reversal and mechanical locking functions. It adopts a modular design and is composed of four core units: power mounting rod 1, rotation support unit 2, self-locking unit 4, and power unit 3, as well as supporting auxiliary components. All systems work together to ensure stable operation and accurate positioning of the device.

[0053] Rotary support unit 2 includes a motor arm, such as Figure 2As shown, the motor arm has a Y-shaped structure and is made of carbon fiber composite material, formed by an integral lay-up process. The motor arm includes a bottom connecting arm 211 and two upper support arms 212. One end of the two upper support arms 212 is connected to the upper end of the bottom connecting arm 211, and the included angle between the two upper support arms 212 is 60°. The other end of each of the two upper support arms 212 is provided with a power mounting seat 22. A carbon fiber retaining ring 23 is glued to the bottom connecting arm 211. Its thickness is set to 0.5mm-1mm, and its surface roughness Ra≤0.8μm. The carbon fiber retaining ring 23 is used to achieve unidirectional limiting of the insertion of the bottom connecting tube and the power mounting rod 1, restricting axial sliding between the rotating support body and the power mounting rod 1. The inner diameter of the carbon fiber retaining ring 23 is the same as the outer diameter of the bottom connecting arm 211. Both ends of the carbon fiber retaining ring 23 are equipped with gaskets 24. The cross-section of the gaskets 24 is the same as that of the carbon fiber retaining ring 23. The gaskets 24 are made of polytetrafluoroethylene (PTFE), which has excellent self-lubricating properties and a low coefficient of friction, ensuring smooth operation of the rotating support body around the power mounting rod 1 and avoiding blockage caused by excessive friction. The bottom end of the bottom connecting arm 211 is inserted into the power mounting rod 1 but not fixed, ensuring the flexibility of the rotating support unit 2 around it while limiting radial sway and ensuring structural stability during rotation. The insertion area of ​​the bottom connecting arm 211 and the power mounting rod 1 is coated with a molybdenum disulfide or PTFE-based anti-friction coating, forming a dense lubricating film on the outer wall of the bottom connecting arm 211 and the inner wall of the power mounting rod 1. The dense lubricating film and the gaskets 24 together form a self-lubricating system.

[0054] The self-locking unit 4 includes a limiting component 41, a reversing component 42, and an actuating component 43. One end of the actuating component 43 is connected to the upper support arm 212, and the other end of the actuating component 43 is connected above the reversing component 42. The reversing component 42 is connected above the limiting component 41.

[0055] The limiting component 41 includes a limiting cylinder 411, which is an open structure. Two locking lugs 412 are symmetrically arranged in the open area of ​​the limiting cylinder 411. The two locking lugs 412 are locked together by a locking member 413 and a fixing member 414. In this embodiment, the locking member 413 is a bolt, and the fixing member 414 is a nut. The locking of the limiting component 41 is achieved through the cooperation of the bolt and the nut. A wall panel 415 and three sets of grooves are provided on the upper outer edge of the limiting cylinder 411. Each set of grooves includes a connecting limiting slot 416 and a guide slope 417. The height difference between the lowest point of the limiting slot 416 and the highest point of the guide slope 417 is h. The wall panel 415 is connected to a step plate 418, which is located on the inner wall of the limiting cylinder 411. The step plate 418 cooperates with the gasket 24 to axially limit the gasket 24. Each set of wall panels 415 and each set of grooves occupies a 90° area of ​​the limiting cylinder 411 in the circumferential direction.

[0056] The inner wall of the limiting cylinder 411 has a variable diameter surface structure. From bottom to top, the limiting cylinder 411 is sequentially connected to the power mounting rod 1, the carbon fiber fixing ring 23, and the bottom connecting arm 211. Specifically, in the mating area between the limiting cylinder 411 and the power mounting rod 1, the inner diameter of the limiting cylinder 411 is the same as the outer diameter of the power mounting rod 1; in the mating area between the limiting cylinder 411 and the carbon fiber fixing ring 23, the inner diameter of the limiting cylinder 411 is larger than the outer diameter of the carbon fiber fixing ring 23; and in the mating area between the limiting cylinder 411 and the bottom connecting arm 211, the inner diameter of the limiting cylinder 411 is larger than the outer diameter of the bottom connecting arm 211.

[0057] The reversing assembly 42 includes a connecting base 421. Two sets of protrusions 422 are located below the connecting base 421. Each set of protrusions 422 occupies a 90° area of ​​the connecting base 421 in the circumferential direction. The curves of the protrusions 422 match the curves of the grooves. Apart from the 180° area containing the protrusions 422, the remaining 180° area has no other structure, preventing interference with the limiting assembly 41 during rotation. Two connecting plates 423 are symmetrically arranged on both sides of the connecting base 421.

[0058] A compression spring 441 is also provided above the connecting base 421. One end of the compression spring 441 is in contact with the upper surface of the connecting base 421, and the other end of the compression spring 441 is fixedly connected to the spring base 442. The spring base 442 is bonded to the outside of the bottom connecting arm 211 with epoxy resin. When the compression spring 441 is fully compressed, the reversing assembly 42 can rotate freely around the limiting assembly 41. After the compression spring 441 is released, the protrusion 422 of the reversing assembly 42 engages with the groove of the limiting assembly 41. The total stroke of the compression spring 441 is b. In the mechanism locked state, it is in a half-released state, and the stroke from the half-released state to the fully compressed state is a, which must satisfy b > a > h. Among them, b > a ensures that the compression spring 441 provides pressure to the reversing assembly 42 in the mechanism locked state, preventing it from dislodging from the limiting assembly 41; a > h ensures that the protrusion 422 completely exits the slot when unlocked, so that the reversing assembly 42 has the ability to rotate axially around the limiting assembly 41.

[0059] Even if there is an angular error between the limiting component 41 and the reversing component 42 during the rotation phase, precise positioning can still be achieved through the guide ramp 417 and the limiting slot 416, exhibiting good rotational positioning capability and repeatability. Even in the event of a power outage or malfunction of the linear servo 433, it can maintain reliable locking, demonstrating inherent safety characteristics.

[0060] The actuation assembly 43 includes an actuating arm 431 connected to a connecting plate 423. The upper end of the actuating arm 431 is connected to a transverse plate 432. A linear servo 433 is connected above the transverse plate 432, and a servo mounting bracket 434 is connected to the linear servo 433. The actuation direction of the linear servo 433 is parallel to the axis of the power mounting rod 1, and the actuating arm 431 controls the directional assembly 42 to move axially. When the linear servo 433 is actuated, it is limited by physical boundaries and can only rotate within the range of 0° to 90°. The linear servo 433 of the actuator drives the actuator arm 431, which in turn drives the reversing component 42 to compress the spring 441 to unlock. During rotation, the guide slope 417 of the groove of the limit component 41 guides the protrusion 422 of the reversing component 42 to align with the target limit slot 416. After it is in place, the compression spring 441 pushes the reversing component 42 to insert into the limit slot 416 to form a mechanical lock. The wedge-shaped fit design makes the lock tighter as the load increases, and it can still be reliably locked in the event of power failure or malfunction.

[0061] The power unit 3 consists of two sets, each including a motor 31 bolted to the power mounting base 22. The output end of the motor 31 is keyed to the propeller 32 and locked with a lock nut. The coaxiality error between the output shaft of the motor 31 and the propeller 32 is ≤0.1mm to avoid additional vibration during operation. The two propellers 32 are counter-rotating (one set rotates clockwise, and the other set rotates counter-clockwise). The propellers 32 are driven by the motor 31 to generate thrust. The counter-rotating propellers 32 balance and adjust the system's counter-torque. During normal flight, the counter-rotating propellers balance the counter-torque. When a position change is required, the speed difference of the motors 31 is adjusted to generate an unbalanced counter-torque, directly driving the rotary support body to rotate without the need for an additional drive device. This reduces weight and power consumption while meeting the requirements for horizontal and vertical position switching, balancing takeoff and landing safety and flight efficiency.

[0062] This device is suitable for solar-powered flying-wing UAVs with high aspect ratio and low wing loading, and requires adjustment of the spatial distribution of propellers 32 during flight. The dual-mode operation of the power unit 3 in this device balances takeoff and landing safety with flight control efficiency; the self-locking unit 4 ensures reliable fixation of critical positions, improving flight safety; its compact structure and light weight meet the lightweight requirements of solar-powered UAVs; it offers high control precision and fast response speed, meeting real-time control needs; and the anti-torque drive of propellers 32 combined with the self-locking unit 4 prevents the control mechanism from being subjected to prolonged stress, avoiding fatigue failure.

[0063] The above-mentioned method for a self-locking power commutation device driven by propeller anti-torque includes a locking phase A, an unlocking phase, a rotation phase, and a locking phase B, specifically including the following steps:

[0064] Step S1, Locking Phase A: As Figure 9 As shown, the linear servo 433 is not powered on, the compression spring 441 is in a semi-released state, pressing the reversing assembly 42, so that the protrusion 422 of the reversing assembly 42 engages with the groove of the limiting assembly 41. At this time, the mechanism is in a mechanically locked state and does not have the ability to rotate relative to each other. The two sets of power units 3 are in a horizontal or vertical state.

[0065] Step S2, Unlocking Stage: Activate the linear servo 433. The linear servo 433 pulls the reversing assembly 42, and the compression spring 441 is fully compressed, causing the protrusion 422 under the connecting base 421 to disengage from the limiting assembly 41. Figure 10As shown, when the UAV needs to switch the spatial attitude of the power system, the control system sends an unlocking command to the actuation component 43 of the self-locking unit 4. The linear servo 433 in the actuation component 43 drives the actuating arm 431 to move towards the spring seat along the axial direction of the power mounting rod 1. The actuating arm 431 drives the reversing component 42 to move synchronously, causing the reversing component 42 to compress the compression spring 441. As the compression spring 441 is gradually compressed to the full compression depth a, since a > h, the two sets of protrusions 422 of the reversing component 42 completely exit from the groove of the limiting component 41. The rotary support unit 2 is released from mechanical constraint, and the bottom connecting arm 211 can rotate freely around the power mounting rod 1, completing the unlocking stage.

[0066] Step S3, Rotation Stage: Adjust the speed difference between the two motors 31, and use the counter-torque generated by the two propellers 32 to drive the rotating support unit 2 to rotate around the power mounting rod 1 to the target position. For example... Figure 11 As shown, the control system adjusts the speed of the two independent motors 31 in the power unit 3 to create a speed difference between the two motors 31. Since the two propellers 32 of the power unit 3 have a forward and reverse propeller structure, the torque generated by the two propellers 32 under the speed difference state is unbalanced, forming a net counter torque to drive the rotating support unit 2 to rotate around the power mounting rod 1. During the rotation, the bottom connecting arm 211 maintains a gap of 0.1mm-0.2mm with the power mounting rod 1, and the carbon fiber fixing ring 23 rotates synchronously with the motor arm. The gaskets 24 at both ends of the ring slide in contact with the inner wall of the limiting cylinder 411, greatly reducing frictional resistance and ensuring smooth rotation without jamming. At the same time, the guide slope 417 of the limiting component 41 initially guides the protrusion 422 when the rotation approaches the target position, so that the rotating support unit 2 accurately points to the target position.

[0067] Step S4, Locking Stage: Power is de-energized on the linear servo 433, releasing the compression spring 441. Its elastic force pushes the protrusion 422 into the adjacent limit slot 416, forming a self-locking state. (Example:) Figure 12 As shown, when the rotary support unit 2 drives the power unit 3 to the vicinity of the target position, the control system stops adjusting the speed of the motor 31 and de-energizes the linear servo 433. After the linear servo 433 is de-energized, its traction force disappears, and the compression spring 441 is released from its fully compressed state under the action of elastic potential energy, pushing the reversing assembly 42 to move along the axial direction of the power mounting rod 1 away from the spring seat. Guided by the guide slope 417 of the limiting assembly 41, the protrusion 422 of the reversing assembly 42 is precisely aligned with the groove at the corresponding position of the limiting assembly 41. As the compression spring 441 is released to the pre-compressed state, the protrusion 422 is fully inserted into the groove, forming a reliable mechanical self-locking. At the same time, the gaskets 24 at both ends of the carbon fiber fixing ring 23 are tightly attached to the end face of the limiting assembly 41, restricting the axial sliding of the rotary support unit 2, ensuring that the power unit 3 is stably fixed at the target position. The two sets of power units 3 change to the horizontal or vertical state, the locking stage is completed, and the entire process ends.

[0068] The solar-powered flying wing UAV equipped with this device operates in two different states, locked A and locked B, as follows: Figure 13 and Figure 14 As shown.

[0069] Therefore, this invention employs a self-locking power reversing device driven by propeller anti-torque, wherein the rotating support unit is connected to the main structure of the flying wing via a power mounting rod, enabling rotation between 0° (horizontal position) and 90° (vertical position); the self-locking unit uses a linear servo-controlled compression spring limiting structure to achieve mechanical locking in both horizontal and vertical positions; the power unit is controlled by propeller anti-torque drive, eliminating the need for an additional drive device; it is suitable for low-speed UAVs with a large aspect ratio and multi-modal control strategy, overcoming the problem of collision between the UAV power system and the ground in the horizontal position, and providing optimal control torque for flight in the vertical position.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A self-locking power commutation device driven by propeller counter-torque, characterized in that: It includes a power mounting rod, one end of which is fixedly connected to the aircraft fuselage, and the other end of which is connected to one end of a rotating support unit, and the other end of the rotating support unit is connected to a power unit; A self-locking unit is provided at the connection between the rotating support unit and the power mounting rod. The self-locking unit is used to lock the rotating support unit in both horizontal and vertical positions. The rotating support unit includes a motor arm, which includes a bottom connecting arm and two upper support arms. One end of the two upper support arms is connected to the upper end of the bottom connecting arm, and the other end of each of the two upper support arms is provided with a power mounting seat. A carbon fiber retaining ring is connected to the bottom connecting arm. Both ends of the carbon fiber retaining ring are provided with gaskets, and the cross-section of the gaskets is the same as that of the carbon fiber retaining ring. The bottom end of the bottom connecting arm is inserted into the power mounting rod, and the insertion area is sprayed with a molybdenum disulfide or PTFE-type anti-friction coating to form a dense lubricating film on the outer wall of the bottom connecting arm and the inner wall of the power mounting rod. The self-locking unit includes a limiting component, a reversing component, and an actuating component. One end of the actuating component is connected to the upper support arm, and the other end of the actuating component is connected above the reversing component. The reversing component is connected above the limiting component. The limiting component includes a limiting cylinder, which is configured as an open structure. Two locking lugs are symmetrically arranged in the open area of ​​the limiting cylinder, and the two locking lugs are locked together by a locking member and a fixing member. The upper outer edge of the limiting cylinder is provided with a wall panel and three sets of grooves. Each set of grooves includes a connecting limiting slot and a guide slope. The wall panel is connected to a step plate. The step plate is set on the inner wall of the limiting cylinder. The step plate cooperates with the gasket to axially limit the gasket. Each set of wall panels and each set of grooves occupies a 90° area of ​​the limiting cylinder along the circumferential direction.

2. The self-locking power commutation device driven by propeller anti-torque according to claim 1, characterized in that: The limiting cylinder is connected to the power mounting rod, the carbon fiber fixing ring, and the bottom connecting arm in sequence from bottom to top; Wherein, at the mating area between the limiting cylinder and the power mounting rod, the inner diameter of the limiting cylinder is the same as the outer diameter of the power mounting rod; At the mating area between the limiting cylinder and the carbon fiber fixing ring, the inner diameter of the limiting cylinder is larger than the outer diameter of the carbon fiber fixing ring. At the mating area between the limiting cylinder and the bottom connecting arm, the inner diameter of the limiting cylinder is larger than the outer diameter of the bottom connecting arm.

3. A self-locking power commutation device driven by propeller anti-torque according to claim 2, characterized in that: The reversing assembly includes a connecting base, and two sets of protrusions are provided below the connecting base. Each set of protrusions occupies a 90° area of ​​the connecting base in the circumferential direction, and the curve of the protrusion matches the curve of the groove. Two connecting plates are symmetrically arranged on both sides of the connecting base.

4. A self-locking power commutation device driven by propeller anti-torque according to claim 3, characterized in that: A compression spring is also provided above the connecting base. One end of the compression spring is in contact with the upper surface of the connecting base, and the other end of the compression spring is fixedly connected to the spring base. The spring base is fixedly connected to the outside of the bottom connecting arm.

5. A self-locking power commutation device driven by propeller anti-torque according to claim 4, characterized in that: The actuation assembly includes an actuating arm connected to the connecting plate, the upper end of the actuating arm being connected to a horizontal plate, a linear servo being connected above the horizontal plate, and a servo mounting bracket being connected to the linear servo.

6. A self-locking power commutation device driven by propeller anti-torque according to claim 5, characterized in that: The power unit is provided in two sets, each set of which includes a motor connected to the power mounting base, and a propeller connected to the motor. The two sets of propellers are counter-rotating propellers.

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