Drive-by-wire adjustable variable wing type inflatable wing and unmanned aerial vehicle

Abstract

The invention discloses a drive-by-wire adjustable variable wing type inflatable wing and an unmanned aerial vehicle. The drive-by-wire adjustable variable wing type inflatable wing comprises an inflatable wing body, a stay wire assembly and a wire length adjusting mechanism, an inflation cavity is formed in the inflatable wing body, the stay wire assembly is arranged in the inflation cavity, the stay wire assembly comprises a plurality of stay wire units, each stay wire unit comprises at least one stay wire, and the stay wire length adjusting mechanism is arranged on the stay wire unit. The two ends of each stay wire are connected with the inner surfaces of the upper skin and the lower skin of the inflatable wing body respectively, part of the wire length adjusting mechanism is arranged in the inflation cavity, the wire length adjusting mechanism is connected with the multiple stay wire units of the stay wire assembly corresponding to the wire length adjusting mechanism, and the wire length adjusting mechanism is used for synchronously adjusting the effective length of all the stay wires of the stay wire assembly. Therefore, the wing shape of the corresponding section of the inflatable wing body is changed. According to the invention, through fusion of the inflatable flexible skin and the mechanical drive-by-wire deformation mechanism, real-time, continuous and programmable optimization of the airfoil profile during flight is realized, so that the aerodynamic efficiency, task adaptability and environment robustness of the aircraft are comprehensively improved.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and in particular to a fly-by-wire adjustable airfoil inflatable wing and a drone. Background Technology

[0002] With the development of aviation technology, higher demands are being placed on the aerodynamic efficiency, environmental adaptability, and mission versatility of aircraft. Traditional fixed-wing aircraft employ a design combining rigid wings with discrete control surfaces (such as flaps and ailerons), adjusting aerodynamic performance by changing the deflection angle of the control surfaces at different flight phases (such as cruise, takeoff and landing, and maneuvers). However, this design has inherent drawbacks: complex mechanical hinges and transmission systems increase structural weight and maintenance costs; gaps created by control surface deflection induce additional drag, reducing aerodynamic efficiency; and its segmented adjustment method makes it difficult to achieve continuous and smooth changes in airfoil profiles, limiting the optimization space for aerodynamic performance.

[0003] To overcome the above problems, related technologies are mainly explored along two technical paths: deformable wing technology and inflatable wing technology.

[0004] In the field of deformable wing technology, one approach is based on smart materials, such as shape memory alloys or piezoelectric materials, to drive localized deformation of the wing surface. While this approach achieves structural integrity, it generally suffers from limited driving force, slow response speed, and low energy conversion efficiency, making it difficult to meet the demands for rapid and significant airfoil adjustments during high-speed or high-maneuver flight. Another approach is based on flexible skin and movable frame structures, where an internal deformable frame (such as linkage mechanisms or telescopic beams) supports an external continuous flexible skin to achieve airfoil changes. While this approach can achieve a smooth aerodynamic surface, it suffers from structural complexity, heavy weight, and high redundancy in the drive system. Furthermore, the poor deformation coordination between the flexible skin and the internal frame makes it prone to wrinkling during deformation, leading to a decrease in aerodynamic performance.

[0005] In the field of inflatable wing technology, flexible materials are used to create airtight bladders that, when inflated, form a rigid structure, offering significant advantages such as light weight and foldable storage. These are mainly categorized into multi-tube, strut, and net types. However, the wing shape entirely depends on the balance between internal air pressure and external aerodynamic loads, making it difficult to actively and precisely control. Even minor fluctuations in air pressure or material creep can cause the airfoil to deviate from its design, resulting in unstable aerodynamic efficiency.

[0006] Coarsely altering the airfoil by adjusting the overall or zoned air pressure results in a slow response and makes it impossible to achieve fine, continuous deformation of the airfoil profile (such as independent control of leading edge camber, maximum thickness location, etc.). While increasing the inflation pressure can increase stiffness, it also increases the material load and system complexity; although deformation is easier at low pressure, the structural stiffness is insufficient to withstand high-G maneuvers. At extreme temperatures, changes in the properties of flexible materials and alterations in the internal gas state further exacerbate the problem of uncontrollable shape. Summary of the Invention

[0007] The present invention aims to at least partially solve one of the technical problems in the related art.

[0008] To this end, embodiments of the present invention propose a steerable airfoil inflatable wing. By integrating an inflatable flexible skin with a mechanical steerable deformation mechanism, the airfoil can be optimized in real time, continuously, and programmably during flight, thereby comprehensively improving the aerodynamic efficiency, mission adaptability, and environmental robustness of the aircraft.

[0009] An embodiment of the present invention also proposes an unmanned aerial vehicle (UAV).

[0010] The airfoil with wire-controlled adjustable variable airfoil according to an embodiment of the present invention includes: An inflatable wing body, wherein the inflatable wing body is made of a flexible, airtight material, and an inflatable cavity is formed inside the inflatable wing body; Multiple cable assemblies are provided inside the inflation cavity. The multiple cable assemblies are arranged at intervals along the width direction of the inflatable wing. Each cable assembly includes multiple cable units arranged at intervals along the length direction of the inflatable wing. Each cable unit includes at least one cable. The two ends of the cable are respectively connected to the inner surfaces of the upper and lower skins of the inflatable wing. Multiple line length adjustment mechanisms are provided, with a portion of each mechanism located within the inflation chamber. These mechanisms are spaced apart along the width direction of the inflatable airfoil and correspond one-to-one with multiple cable pull assemblies. Each line length adjustment mechanism is connected to multiple cable pull units of its corresponding cable pull assembly. The line length adjustment mechanism is used to synchronously adjust the effective length of all cables of the cable pull assembly to change the airfoil shape at the corresponding cross-section of the inflatable airfoil.

[0011] In some embodiments, the line length adjustment mechanism includes an adjustment rod and a drive unit. The adjustment rod extends along the length direction of the inflatable wing and the drive unit is connected to the adjustment rod. The drive unit is used to drive the adjustment rod to rotate around its own axis. The middle part of the pull line is wound or connected to the adjustment rod so that the rotational motion of the adjustment rod is converted into the retraction and extension motion of the pull line.

[0012] In some embodiments, the outer surface of the adjusting rod is provided with a spiral groove, and the pull wire is embedded in the groove. The spiral direction and pitch of the groove are configured to synchronously and differentially retract and extend multiple pull wires connected to it when the adjusting rod rotates.

[0013] In some embodiments, the adjusting rod is a variable diameter structure, so that the multiple pull cables connected to it can be wound and unwound synchronously and differentially when the adjusting rod rotates.

[0014] In some embodiments, the drive unit is a micro motor, and the output shaft of the drive unit is connected to one end of the adjusting rod through a gear transmission pair. The other end of the adjusting rod is supported on the interior or end structure of the inflatable wing through a bearing and a limiting structure.

[0015] In some embodiments, the inner surface of the upper and lower skins of the inflatable wing is provided with a plurality of patches corresponding one-to-one with the ends of the plurality of pull wires, and the ends of the pull wires are connected to the inner surface of the upper and lower skins of the inflatable wing through the patches.

[0016] In some embodiments, a control device is further included, comprising a controller and a sensor group, the sensor group being used to detect flight state parameters and / or wing state parameters, the controller being electrically connected to the sensor group and the drive unit of the line length adjustment mechanism, and being used to control the drive unit to operate according to the feedback signal from the sensor group, so as to adjust the airfoil in real time.

[0017] In some embodiments, the sensor group includes at least one of a barometric pressure sensor, an angle sensor, and a wind speed sensor, wherein the barometric pressure sensor is used to detect the internal pressure of the inflation chamber, the angle sensor is used to detect the rotation angle of the adjustment rod, and the wind speed sensor is used to detect the airspeed.

[0018] In some embodiments, the flexible airtight material is a polyamide fiber fabric or a polyester fiber fabric coated with an airtight layer, and the drawstring is a Kevlar fiber rope or an ultra-high molecular weight polyethylene fiber rope.

[0019] The drone of this invention includes the wire-controlled adjustable variable airfoil inflatable wing described in the above embodiments.

[0020] In embodiments of the present invention, an inflatable flexible structure is employed, achieving both the required stiffness and lightweight design, as well as foldable storage, significantly reducing structural weight and transport volume. Through the coordination of the internal cable system and adjustment mechanism, the wing can change its airfoil profile in real time, continuously, and precisely during flight, thereby automatically adapting to different flight states such as cruise, takeoff and landing, and maneuvering, and always maintaining optimal or near-optimal aerodynamic efficiency.

[0021] This design combines the lightweight nature of an inflatable wing with the precision of mechanical fly-by-wire control, overcoming the drawbacks of traditional inflatable wings, such as difficulty in shape control and slow response, as well as the complexity and weight of traditional variable-wing structures. This wing can serve as an active control surface, enabling roll and lift control functions, and can suppress flutter and optimize load distribution through active deformation, thereby improving the aircraft's maneuverability, safety, and overall mission adaptability. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a wire-controlled adjustable variable airfoil inflatable wing according to an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the retracted cable of the wire-controlled adjustable variable airfoil inflatable wing according to an embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of the structure of a wire-controlled adjustable variable airfoil inflatable wing according to an embodiment of the present invention.

[0025] Figure 4 This is a first schematic diagram of an embodiment of the present invention where the adjusting rod has a variable diameter structure.

[0026] Figure 5 This is a second schematic diagram of an embodiment of the present invention where the adjusting rod has a variable diameter structure.

[0027] Figure label: 1-Inflatable wing body; 11-Patch; 101-Inflatable cavity; 2-Guitar unit; 21-Guitar; 3-Line length adjustment mechanism; 31-Adjusting rod; 32-Drive unit; 4-Air pump. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0029] The following describes, with reference to the accompanying drawings, a wire-controlled adjustable variable airfoil inflatable wing according to an embodiment of the present invention.

[0030] like Figures 1 to 5 As shown, the airfoil with adjustable airfoil according to an embodiment of the present invention includes an airfoil body 1, multiple cable pull assemblies, and multiple cable length adjustment mechanisms 3.

[0031] The inflatable wing 1 is a closed shell made of flexible, airtight material (flexible skin), and an inflation chamber 101 is formed inside the inflatable wing 1. After gas (such as air) is injected by the air pump 4, the internal pressure causes the flexible skin to tighten, forming a wing with a basic aerodynamic shape and basic structural rigidity.

[0032] The cable assembly is located within the inflation chamber 101. Multiple cable assemblies are arranged at intervals along the width direction (wing chord direction, from leading edge to trailing edge) of the inflatable wing body 1. Each cable assembly is responsible for controlling the deformation of a spanwise strip region of the wing. The cable assembly includes multiple cable units 2 arranged at intervals along the length direction (wing spanwise, from wing root to wingtip) of the inflatable wing body 1. Each cable unit 2 includes at least one cable 21, and the two ends of the cable 21 are respectively connected to the inner surfaces of the upper and lower skins of the inflatable wing body 1.

[0033] After inflation, the original length of the cable 21 limits the maximum distance between the upper and lower skins in the normal direction, helping to determine the initial thickness and shape of the wing section and preventing disordered expansion of the inflation gas.

[0034] When the effective length of the guy wire 21 (i.e., the straight-line distance between the upper and lower anchor points) is actively changed, a direct lifting or relaxing force is applied to the flexible skin. Shortening the guy wire 21 will bring the upper and lower skins closer together, resulting in local thinning or increased camber of the wing; conversely, it will cause local thickening or restoration of the wing. By controlling the length of multiple guy wires 21, the desired airfoil section profile can be precisely adjusted.

[0035] Multiple guide wire assemblies control the airfoil profile along the chord direction. For example, a guide wire assembly located at 25% chord length is specifically responsible for controlling the camber and thickness of the leading edge region; a guide wire assembly located at 75% chord length is specifically responsible for controlling the shape of the trailing edge region. Each guide wire assembly can independently change the profile of the entire spanwise strip it is responsible for.

[0036] Part of the line length adjustment mechanism 3 is located in the inflation chamber 101. Multiple line length adjustment mechanisms 3 are arranged at intervals along the width direction of the inflatable airfoil 1 and correspond one-to-one with multiple pull wire assemblies. The line length adjustment mechanism 3 is connected to multiple pull wire units 2 of the pull wire assembly corresponding to it. The line length adjustment mechanism 3 is used to synchronously adjust the effective length of multiple pull wires 21 of the pull wire assembly to change the airfoil shape at the corresponding section of the inflatable airfoil 1.

[0037] The line length adjustment mechanism 3, as a centralized drive source, can receive control commands and mechanically and synchronously change the length of the pull wires 21 in multiple pull wire units 2, converting energy (usually electrical energy) into mechanical motion that controls the length of the pull wires 21.

[0038] The inflatable wing body 1 serves as a unified flexible foundation. Multiple parallel cable-stayed components and a cable length adjustment mechanism 3 control module are integrated on it. Each module operates independently, responsible for adjusting the shape of its corresponding spanwise strip. All modules work collaboratively under the unified control of the device, jointly shaping the three-dimensional aerodynamic surface of the entire wing.

[0039] Understandably, when it is necessary to change from airfoil A to airfoil B, the control device first decomposes the target airfoil profile curve into geometric requirements for different chord positions (such as the leading edge point, the highest point of the upper surface, and the trailing edge point).

[0040] Geometric requirements are translated into drive commands for the individual guy wire components. For example, commands to increase the leading edge curvature are primarily sent to the guy wire components located in the leading edge region; commands to increase the trailing edge curvature are sent to the components in the trailing edge region.

[0041] Each wire assembly that receives the instruction begins to operate. Its corresponding wire length adjustment mechanism 3 synchronously adjusts the length of the multiple wires 21 arranged along the spanwise direction within the wire assembly to achieve a consistent shape change throughout the spanwise direction (e.g., uniform drooping of the entire leading edge strip), or, through more complex control, to achieve differentiated deformation on the spanwise strip (e.g., drooping more at the wingtip leading edge than at the wing root leading edge).

[0042] All the cable assemblies can also deform simultaneously, working together to pull and support the flexible skin, allowing the entire wing cross-section to smoothly transform into the target airfoil B.

[0043] The fly-by-wire adjustable airfoil inflatable wing of this invention can directly and relatively independently control key airfoil parameters such as leading-edge radius, maximum thickness and its position, and trailing-edge camber. For example, during landing, the trailing-edge camber can be significantly increased to obtain high lift without requiring excessive changes to the leading-edge shape.

[0044] Because the line length adjustment mechanism 3 acts directly on the critical chord position that needs deformation, the energy transfer path is short and the structural efficiency is high. Independent control of the area most sensitive to aerodynamic characteristics (such as the trailing edge) can obtain the maximum aerodynamic benefits (such as changes in the lift coefficient) with the minimum amount of deformation.

[0045] Each drawbar assembly controls a longitudinal strip, and its deformation naturally ensures that the skin is continuous and smooth along the span at that chord position, avoiding local wrinkles or discontinuities that may occur due to multi-point independent control, thus ensuring excellent aerodynamic performance.

[0046] In some embodiments, such as Figures 1 to 5 As shown, the line length adjustment mechanism 3 includes an adjustment rod 31 and a drive unit 32. The adjustment rod 31 is a slender shaft-like structure that extends along the length of the inflatable wing body 1. The drive unit 32 can be placed in a relatively spacious area at the wing root or inside the UAV. The drive unit 32 is connected to the adjustment rod 31 and is used to drive the adjustment rod 31 to rotate around its own axis. The middle part of the pull line 21 is wound around or connected to the adjustment rod 31, so that the rotational motion of the adjustment rod 31 is converted into the retraction and extension motion of the pull line 21.

[0047] Understandably, each guy wire assembly (responsible for deformation at a specific chordal position) corresponds to an independent adjusting rod 31. The adjusting rod 31 extends across the entire span of its respective guy wire assembly, and all guy wire units 2 arranged at spanwise intervals within the guy wire assembly are wound or connected to this same adjusting rod 31.

[0048] The drive unit 32 (usually a micro motor) starts, outputs torque, and drives the adjusting rod 31 to rotate around its own axis. Since the middle of the pull wire 21 is attached to the rotating adjusting rod 31 in some form (such as embedded in a spiral groove or fixed connection point), the rotational motion of the adjusting rod 31 is converted into the winding (winding in) or releasing (unwinding out) of the pull wire 21 on the rod.

[0049] The winding or unwinding of the pull wire 21 on the adjusting rod 31 directly changes the effective length between the two fixed points of the pull wire 21. When the adjusting rod 31 rotates, these pull wires 21 are wound and unwound synchronously. The adjusting rod 31 can simultaneously control the length of all pull wires 21 of its corresponding pull wire assembly at different spanwise positions (such as wing root, midsection, and wingtip).

[0050] For example, if it is necessary to increase the camber of the wing at a certain chordal position (e.g., the trailing edge), the control device will instruct the drive unit 32 of the corresponding trailing edge cable assembly to actuate. The adjusting rod 31 of this assembly rotates, synchronously shortening the cables 21 at all spanwise positions within the assembly. The synchronous shortening of these cables 21 generates a uniform lifting force on the upper and lower skins to which they are connected, causing the entire trailing edge strip of the wing (from the wing root to the wingtip) to bend downwards uniformly, thereby achieving a comprehensive and continuous increase in trailing edge camber.

[0051] By controlling all spanwise tension lines 21 at a chord position with an adjusting rod 31, the synchronicity and consistency of the spanwise deformation of the chordwise feature line are ensured. For example, when it is necessary to change the trailing edge camber, the entire trailing edge from the wing root to the wingtip will bend smoothly as a whole without local bulges or depressions, ensuring the smoothness and continuity of the deformed aerodynamic surface and helping to maintain good aerodynamic performance.

[0052] For each chordal region (pull wire assembly) that requires independent control, only one drive unit 32 (motor) and one transmission mechanism (adjusting rod 31) are needed, which reduces structural weight, system complexity and cost, and improves reliability.

[0053] The length of the pull wire 21 is linearly or proportionally related to the rotation angle of the adjusting rod 31 (depending on the winding radius or the spiral groove lead). By controlling the rotation angle of the motor (usually using an encoder), the length variation of all connecting pull wires 21 can be precisely and repeatably controlled, thereby precisely controlling the target geometric parameters of the airfoil profile.

[0054] By designing helical grooves with different leads on the adjusting rod 31, or setting different winding starting points, it is possible to achieve differentiated winding and unwinding of multiple cables 21 under single-rod drive. For example, the cable 21 at the wingtip can be wound shorter than the cable 21 at the wing root, thereby actively introducing wing twist while changing the camber.

[0055] In some embodiments, the outer surface of the adjusting rod 31 is provided with a spiral groove (not shown in the figure), and the pull wire 21 is embedded in the groove. The spiral direction and pitch of the groove are configured to synchronously and differentially retract and extend multiple pull wires 21 connected to it when the adjusting rod 31 rotates.

[0056] On the outer surface of the adjusting rod 31, an independent spiral groove is formed for each pull wire 21 that needs to be controlled independently. These grooves can be parallel or have different spiral parameters.

[0057] Pitch refers to the axial distance between corresponding points on two adjacent turns of a helix. Assume the pitch of the groove containing pull wire 21A is P_A, and the pitch of the groove containing pull wire 21B is P_B, where P_A > P_B. When the adjusting rod 31 rotates by the same angle (e.g., one turn), the pull wire 21 embedded in groove A is pushed axially a distance of P_A, while the pull wire 21B moves a distance of P_B. Since the pull wire 21 is constrained within the groove, this axial movement directly translates into the length of the pull wire 21 being extended or retracted. Therefore, a larger pitch pull wire 21 has a faster extension / retraction speed and a larger length change; a smaller pitch pull wire is slower and has a smaller length change.

[0058] If the two pull wires 21 need to move in opposite directions (one retracts, the other releases), they can be designed with grooves that rotate in opposite directions (one left-handed, one right-handed). When the adjusting rod 31 rotates in one direction, the two pull wires 21 will move in opposite directions along the axial direction.

[0059] By designing grooves with different pitches and directions of rotation for the guy wires 21 at different spanwise positions, complex coordinated deployment and retraction modes can be achieved. For example, the guy wire 21 at the wing root can be tightened with a smaller pitch (small deformation), while the guy wire 21 at the wingtip can be tightened with a larger pitch (large deformation), thereby achieving a torsional camber change.

[0060] The mechanical cable groove coupling ensures that there is a preset geometric relationship between the movement of all pull wires 21 and the rotation angle of the adjusting rod 31, with no slippage, no delay, and extremely high synchronization accuracy.

[0061] The required differentiated take-up and release patterns are embedded in the machining parameters of the wire groove. By simply controlling the total rotation angle and direction of the motor, complex multi-wire coordinated actions can be automatically generated, simplifying the upper-level control algorithm and resulting in a fast and reliable system response.

[0062] In other embodiments, such as Figure 4 and Figure 5 As shown, the adjusting rod 31 has a variable diameter structure so that the multiple pull wires 21 connected to it can be extended and retracted synchronously and differently when the adjusting rod 31 rotates.

[0063] For example, such as Figure 4 As shown, the diameter of the adjusting rod 31 changes continuously from one end to the other, and the pull wire 21 is wound around different diameter positions. According to the formula for circular motion, the length L of the pull wire 21 that is wound up or down = rotation angle (radians) × winding radius R. When the adjusting rod 31 rotates by the same angle, the pull wire 21 wound up or down at the thicker end (larger R) has a larger length, and the pull wire 21 wound up or down at the thinner end (smaller R) has a smaller length. By designing the diameter change curve, the winding up or down ratio of the pull wire 21 can be preset.

[0064] like Figure 5 As shown, the main body of the adjusting rod 31 is cylindrical, but drums, grooves, or protrusions of different diameters are machined at specific winding positions of each pull wire 21. Each pull wire 21 is wound on a segment of a specific diameter designed specifically for it. This is the same as the principle of overall gradient, but the design is more flexible, allowing for non-linear, discrete radius combinations on a single rod to match more complex deformation requirements.

[0065] The root of differentiated winding and unwinding lies in the simple difference in geometric radius, which is easy to understand, analyze, and manufacture. Similar to helical grooves, the deformation mode is predetermined by the mechanical structure (diameter distribution), ensuring reliable operation and simple control. In particular, the local diameter variation type allows for adjustment of the sensitivity of a certain draw wire 21 by changing the diameter of a local winding section without altering the main structure of the rod, offering greater design flexibility.

[0066] In some embodiments, the drive unit 32 is a micro motor, and the output shaft of the drive unit 32 is connected to one end of the adjusting rod 31 through a gear transmission pair. The other end of the adjusting rod 31 is supported on the interior or end structure of the inflatable wing 1 through a bearing and a limiting structure.

[0067] The output shaft of the drive unit 32 (micro motor) is not directly connected to the adjusting rod 31, but is connected through a gear transmission pair. That is, a small gear (driving gear) is mounted on the output shaft of the motor, which meshes with a large gear (driven gear) mounted on one end of the adjusting rod 31.

[0068] The gear pair can easily change the direction of the rotation axis (such as parallel axis or vertical axis transmission), which makes it possible to flexibly arrange the motor in the inflatable wing 1 and convert the high-speed rotation of the motor into the low-speed rotation with sufficient driving force required by the adjusting rod 31.

[0069] The other end (non-driving end) of the adjusting rod 31 is supported by a bearing and a limiting structure. The bearing can be mounted on a rigid end plate at the end of the inflatable airfoil 1. The bearing (such as a rolling bearing or a sliding bearing) provides a low-friction, high-precision rotational support for the adjusting rod 31.

[0070] Limiting structures (such as mechanical stops, limit rings, and hard limiters that work with sensors) are used to physically limit the maximum rotation angle of the adjusting rod 31. The principle is that when the adjusting rod 31 rotates to a preset limit position, the rod or its connected components will contact the limiting structure, preventing further rotation, thus preventing excessive tightening or loosening of the pull cable 21, avoiding breakage or excessive slack in the pull cable 21, and also preventing damage from excessive stretching of the flexible skin.

[0071] In some embodiments, such as Figure 1 As shown, the inner surfaces of the upper and lower skins of the inflatable wing body 1 are provided with multiple patches 11 that correspond one-to-one with the ends of multiple pull wires 21. The ends of the pull wires 21 are connected to the inner surfaces of the upper and lower skins of the inflatable wing body 1 through the patches 11.

[0072] The skin of the inflatable wing 1 is a flexible, thin composite fabric. If the end of the high-strength tension wire 21 (usually a rigid rope end or metal piece) is sewn or glued directly to the skin, severe local stress concentration will occur.

[0073] The patch 11 serves as an intermediate transition layer, with an area significantly larger than the cross-sectional area of ​​the end of the pull wire 21. When the tension in the pull wire 21 is transmitted to the skin through the patch 11, the force is distributed across the entire area covered by the patch 11. The patch 11 itself is made of a higher-strength material (such as additional fiber cloth, metal sheets, or high-strength plastic sheets). It locally reinforces the skin, enabling it to withstand higher tensile and shear forces at the connection points without deformation or damage.

[0074] In some embodiments, a control device (not shown) is also included. The control device includes a controller and a sensor group. The sensor group is used to detect flight state parameters and / or wing state parameters. The controller is electrically connected to the sensor group and the drive unit 32 of the line length adjustment mechanism 3, and is used to control the drive unit 32 to operate according to the feedback signal of the sensor group in order to adjust the airfoil in real time.

[0075] Optionally, the sensor group includes at least one of a bar pressure sensor, an angle sensor, and a wind speed sensor. The bar pressure sensor is used to detect the internal pressure of the inflation chamber 101, the angle sensor is used to detect the rotation angle of the adjustment rod 31, and the wind speed sensor is used to detect the airspeed.

[0076] A pressure sensor monitors the internal pressure of the inflation chamber 101, which directly determines the foundation's stiffness and shape retention. Abnormal pressure (such as leakage) is the primary safety alarm.

[0077] An angle sensor (such as an encoder) is directly mounted on the adjusting rod 31 to accurately measure its rotation angle. Since there is a definite mechanical relationship between the extension / retraction of the pull wire 21 and the rotation angle of the adjusting rod 31, this signal is equivalent to directly measuring the real-time length of the pull wire 21 and the actual geometry of the airfoil, and is the most critical feedback signal.

[0078] Wind speed sensors (such as pitot tubes) measure airspeed, which directly determines the required airfoil (e.g., high-lift airfoils for low speeds and low-drag airfoils for high speeds).

[0079] These sensors convert continuous variables in the physical world, such as pressure, position, and velocity, into digital or analog electrical signals that the controller can process, enabling real-time, quantitative perception of the system's internal state and external environment.

[0080] The controller continuously receives feedback signals from the sensor array and compares them with target values. The target values ​​come from the flight management system's preset flight plan (such as currently performing a climb phase) or may come from higher-level optimization algorithms (such as finding the optimal lift-to-drag ratio at the current airspeed).

[0081] Based on the error (the difference between the target value and the feedback value), the controller runs a specific control algorithm (such as PID control or model predictive control) to calculate the control commands that need to be applied to the drive unit 32 (such as the target angle, direction and speed at which the motor should rotate).

[0082] The controller sends the calculated instructions (usually PWM waves, pulses, or communication messages) to the motor driver. The driver then precisely controls the motor's movement, driving the adjusting rod 31 to rotate, ultimately changing the length and airfoil of the cable 21.

[0083] In some embodiments, the flexible airtight material is a polyamide fiber fabric or polyester fiber fabric coated with an airtight layer, providing reliable airtightness and ensuring that the wing can form and maintain the necessary stiffness and shape. The flexible nature of the material ensures that it can smoothly deform following the traction of the tension cable 21 and has good shape recovery capability.

[0084] The pull cord 21 is made of Kevlar fiber rope or ultra-high molecular weight polyethylene fiber rope, which has extremely high tensile strength to withstand the force of lifting the skin, and extremely low elongation (i.e., high modulus) to ensure precise length control. Even one millimeter of elastic elongation will cause the airfoil control to become inaccurate.

[0085] The drone of this invention includes the wire-controlled adjustable variable airfoil inflatable wing described in the above embodiments.

[0086] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0087] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0088] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0089] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0090] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0091] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A line control variable geometry airfoil inflator wing, characterized by, The application relates to a kind of inflatable wings, comprising: An inflatable wing body made of flexible airtight material, forming an inflatable cavity inside the inflatable wing body; A plurality of cable assemblies arranged in the inflatable cavity, a plurality of the cable assemblies are arranged along the width direction of the inflatable wing body, the cable assembly comprises a plurality of cable units arranged along the length direction of the inflatable wing body, the cable unit comprises at least one cable, and both ends of the cable are connected to the inner surface of the upper and lower skins of the inflatable wing body respectively; A plurality of wire length adjustment mechanisms, part of the wire length adjustment mechanisms are arranged in the inflatable cavity, a plurality of the wire length adjustment mechanisms are arranged along the width direction of the inflatable wing body and correspond to a plurality of the cable assemblies one by one, the wire length adjustment mechanism is connected to a plurality of the cable units of the cable assembly corresponding to the wire length adjustment mechanism, and the wire length adjustment mechanism is used to synchronously adjust the effective length of a plurality of the cables of the cable assembly to change the airfoil shape at the corresponding cross section of the inflatable wing body.

2. The line control variable geometry airfoil inflator wing of claim 1, wherein, The wire length adjustment mechanism comprises an adjusting rod and a driving unit, the adjusting rod extends along the length direction of the inflatable wing body, the driving unit is connected to the adjusting rod, the driving unit is used to drive the adjusting rod to rotate around its axis, and the middle part of the cable is wound or connected to the adjusting rod so that the rotating motion of the adjusting rod is converted into the winding and unwinding motion of the cable.

3. The line control variable geometry airfoil inflator wing of claim 2, wherein, The outer surface of the adjusting rod is provided with a spiral wire groove, the cable is embedded in the wire groove, and the spiral direction and pitch of the wire groove are configured to synchronously and differentially wind and unwind a plurality of the cables connected thereto when the adjusting rod rotates.

4. The line control variable geometry airfoil inflator wing of claim 2, wherein, The adjusting rod is a variable-diameter structure to synchronously and differentially wind and unwind a plurality of the cables connected thereto when the adjusting rod rotates.

5. The by-wire variable geometry airfoil inflator wing of any of claims 2-4, wherein, The driving unit is a micro motor, the output shaft of the driving unit is connected to one end of the adjusting rod through a gear transmission pair, and the other end of the adjusting rod is supported on the inside or end structure of the inflatable wing body through a bearing and a limiting structure.

6. The line control variable geometry airfoil inflator wing of claim 1, wherein, The inner surface of the upper and lower skins of the inflatable wing body is provided with a plurality of patches corresponding to the end parts of a plurality of the cables one by one, and the end parts of the cables are connected to the inner surface of the upper and lower skins of the inflatable wing body through the patches.

7. The line control variable geometry airfoil inflator wing of claim 2, wherein, Further comprising a control device, the control device comprises a controller and a sensor group, the sensor group is used to detect flight state parameters and / or wing state parameters, the controller is electrically connected to the sensor group and the driving unit of the wire length adjustment mechanism, and is used to control the driving unit to act according to the feedback signal of the sensor group to adjust the airfoil in real time.

8. The line control variable geometry airfoil inflator wing of claim 7, wherein, The sensor group comprises at least one of an air pressure sensor, an angle sensor and a wind speed sensor, the air pressure sensor is used to detect the internal pressure of the inflatable cavity, the angle sensor is used to detect the rotation angle of the adjusting rod, and the wind speed sensor is used to detect the flight airspeed.

9. The line control variable geometry airfoil inflator wing of claim 1, wherein, The flexible airtight material is polyamide fiber fabric or polyester fiber fabric coated with an airtight layer, and the cable is a Kevlar fiber rope or an ultrahigh molecular weight polyethylene fiber rope.

10. A drone, characterized in that, A line control variable geometry airfoil inflator comprising the line control variable geometry airfoil according to any one of claims 1-9.

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