Unmanned aerial vehicle wing accommodating mechanism and accommodating method

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and particularly discloses an unmanned aerial vehicle wing containing mechanism and method, and the unmanned aerial vehicle wing containing mechanism comprises a wing, a folding assembly and a rotating assembly. Wherein the wing is provided with a central wing and an outer wing; the folding assembly is connected between the central wing and the outer wing and used for driving the outer wing to conduct folding movement relative to the central wing. The rotating assembly is connected between the unmanned aerial vehicle body and the central wing and used for driving and bearing the whole wing comprising the folded outer wing to rotate and ascend and descend. Through the cooperative action of the folding assembly and the rotating assembly, the wings are converted from an unfolded flight attitude to a storage attitude which is in parallel fit with the fuselage. According to the technical scheme, through the composite motion design of the structure, attitude transformation of the wings in a multi-dimensional space is achieved, so that a more compact storage appearance is obtained, the overall storage size of the unmanned aerial vehicle is remarkably reduced, and portability and deployment efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV wing storage mechanism and storage method. Background Technology

[0002] When not in use, fixed-wing drones typically require folding their wings to reduce their overall size for easier storage, transportation, and rapid deployment. Currently, common wing folding solutions fall into two main categories: fixed and folding. Fixed-wing designs are simple and reliable, but their dimensions cannot be altered during storage, resulting in a larger overall drone footprint and inconvenience for warehousing, transportation, and field operations.

[0003] To address this issue, various wing folding solutions have been proposed in existing technologies. However, most folding mechanisms can only achieve folding in a single dimension, such as folding the outer wing inward only along its span. While such solutions can shorten the wing span to some extent, the thickness of the wing remains prominent after folding, the overall aircraft profile is still not regular, the improvement in space utilization is limited, and the folding effect is not ideal. In addition, some folding structures are complex, posing challenges in ensuring the reliability of the folding and unfolding process and the structural locking strength in flight.

[0004] Therefore, there is an urgent need for a more efficient drone wing containment mechanism and containment method. Summary of the Invention

[0005] The purpose of this invention is to provide a drone wing storage mechanism and storage method that can change the wing attitude in multi-dimensional space to achieve a more compact storage form, while ensuring the reliability of the storage and deployment process, the structural load-bearing safety, and improving the overall portability and deployment efficiency of the drone.

[0006] To achieve the above objectives, in one aspect, the present invention provides a drone wing storage mechanism, comprising: a wing including a central wing and an outer wing; a folding assembly connected between the central wing and the outer wing for driving the outer wing to fold relative to the central wing; and a rotating assembly connected between the drone fuselage and the central wing for driving and supporting the entire wing, including the folded outer wing, to rotate and ascend / descend; wherein the folding assembly and the rotating assembly work together to change the wing from an extended flight posture to a retracted posture parallel and close to the fuselage.

[0007] In some embodiments of the present invention, the rotating assembly includes a rotary drive motor, a central rotating shaft, and a rotating disk; the rotary drive motor is fixedly connected to the fuselage of the UAV, and its motor shaft is drivenly connected to the central rotating shaft; a central rotating shaft protrusion is provided on the periphery of the central rotating shaft, and an inner guide rail matching the central rotating shaft protrusion is provided on the inner ring of the rotating disk; when the rotary drive motor drives the central rotating shaft to rotate, the central rotating shaft protrusion moves under the constraint of the inner guide rail, thereby driving the rotating disk to perform a combined rotational and vertical lifting motion.

[0008] In some embodiments of the present invention, the rotating assembly further includes a locking system for locking the rotating disk in a stowed and unfolded posture; the locking system includes a locking motor, a retractable locking rod driven by the locking motor, and a locking rod groove formed on the side of the rotating disk, wherein the two ends of the locking rod groove are respectively provided with an upper locking hole and a lower locking hole; the retractable locking rod can slide along the locking rod groove under the drive of the locking motor and selectively insert into the upper locking hole or the lower locking hole.

[0009] In some embodiments of the present invention, the folding assembly includes a folding drive electric actuator, a triangular connecting rod, a hinged rod, and a pair of folding connecting lugs; the cylinder end of the folding drive electric actuator is hinged to the central wing, and its push rod end is hinged to one vertex of the triangular connecting rod; the other two vertices of the triangular connecting rod are respectively hinged to the central wing and one end of the hinged rod; the other end of the hinged rod is hinged to the internal structure of the outer wing through the folding connecting lugs; the folding drive electric actuator drives the triangular connecting rod to move, and drives the outer wing to rotate about the folding axis formed by the folding connecting lugs through the hinged rod.

[0010] In some embodiments of the present invention, a control and sensing system is also included, which includes a central controller and sensors disposed at key locations along the movement paths of the folding assembly and the rotating assembly; the central controller is used to receive folding or unfolding commands and, based on feedback signals from the sensors, sequentially control the movements of the folding assembly and the rotating assembly, as well as locking and unlocking them.

[0011] In another aspect, the present invention also provides a method for housing a drone wing, based on the drone wing housing mechanism described in any of the above claims, the method comprising the following steps:

[0012] S1: Folding step, controlling the folding assembly to drive the outer wing to fold relative to the central wing;

[0013] S2: Rotation step: After folding, control the rotating component to drive the entire wing to rotate and rise and fall, so that the wing moves to a storage position parallel to the fuselage.

[0014] Further, step S1 includes:

[0015] Release the flight status lock of the folding assembly;

[0016] The electric actuator drives the folding mechanism to rotate the outer wing 180° downwards around the folding axis via a triangular link and a hinged rod, until it fits against the underside of the central wing.

[0017] Once the sensor detects that the outer wing is in position, it controls the folding drive electric actuator to stop and lock.

[0018] Further, step S2 includes:

[0019] After confirming that the folding is complete, the controller unlocks the locking system of the rotating component;

[0020] The drive motor rotates and, through the cooperation of the central rotating shaft protrusion and the inner guide rail, drives the rotating disk and the wing to perform a combined rotation and descent motion.

[0021] After the sensor detects that the rotating disk has moved to the target position, it controls the rotating drive motor to stop and controls the locking system to lock.

[0022] Compared with the prior art, the present invention discloses at least the following beneficial effects:

[0023] The UAV wing storage mechanism provided by this invention, through the collaborative design and division of labor between folding and rotating components, enables efficient and reliable transformation of the wing from a flight attitude to a compact, folded attitude. The folding component is specifically designed to drive the outer wing to fold relative to the central wing, while the rotating component supports and drives the entire folded wing to perform a combined rotation and yaw motion, allowing the wing to ultimately fit parallel to the fuselage, significantly reducing the overall size in the folded state. This structural design not only achieves multi-dimensional spatial transformation of the wing's attitude during folding, improving space utilization, but also ensures structural stability and load-bearing safety in both flight and folded states through independent drive and locking mechanisms. Simultaneously, the integrated control and sensing system supports a fully automated folding and unfolding process, effectively improving the UAV's portability, deployment efficiency, and operational reliability. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is an overall layout diagram of the UAV wing housing mechanism of the present invention on the wing;

[0026] Figure 2 This is a schematic diagram of the wings of a drone equipped with the wing-receiving mechanism of the present invention in both the deployed and retracted states.

[0027] Figure 3 This is a schematic diagram of the folding assembly in the wing housing mechanism of the UAV of the present invention. Figure 1 ;

[0028] Figure 4 This is a schematic diagram of the folding assembly in the wing housing mechanism of the UAV of the present invention. Figure 2 ;

[0029] Figure 5 This is a schematic diagram of the rotating component in the wing housing mechanism of the UAV of the present invention. Figure 1 ;

[0030] Figure 6 This is a schematic diagram of the rotating component in the wing housing mechanism of the UAV of the present invention. Figure 2 ;

[0031] Figure 7 This is a schematic diagram of the rotating disk in the rotating assembly of the present invention.

[0032] In the diagram: 1. Rotating assembly; 11. Rotating drive motor; 12. Central rotating shaft; 13. Rotating disk; 14. Locking rod mechanism; 15. Locking motor; 16. Locking rod slide groove; 17. Upper locking hole; 18. Lower locking hole; 19. Inner guide rail; 20. Central rotating shaft protrusion; 2. Outer wing; 3. Folding assembly; 31. Hinge support; 32. Triangular connecting rod; 33. Folding drive electric actuator; 34. Folding connecting lug; 35. Hinge rod; 4. Central wing. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Example 1

[0036] Reference Figures 1 to 7As shown, Embodiment 1 of the present invention provides a wing storage mechanism for a drone, including a folding assembly 3, a rotating assembly 1, and a control and sensing system. The folding assembly 3 is used to fold and unfold the outer wing 2 relative to the central wing 4, and the rotating assembly 1 is used to realize the overall rotation and lifting of the folded outer wing 2 and the central wing 4 (the entire wing). The two work together to ultimately transform the wing from its unfolded posture during flight to a compact, folded posture parallel to the fuselage. The entire storage process can be automated through the control and sensing system.

[0037] In this embodiment, the folding assembly 3 is arranged at approximately one-third of the outer side of the wing, naturally dividing the wing into the outer wing 2 and the central wing 4. The folding assembly 3 mainly consists of a folding drive electric actuator 33, a triangular connecting rod 32, a hinge rod 35, and a pair of folding connecting lugs 34.

[0038] Specifically, the hinge support 31 and the folding connecting lug 34 are bolted to the outer wing 2 spar, and the outer wing 2 is hinged to the central wing 4 via two folding connecting lugs 34. The cylinder end of the folding drive electric actuator 33 is fixedly mounted on the internal structure of the central wing 4 via the hinge support 31, and its push rod end is hinged to one vertex of the triangular connecting rod 32. The other two vertices of the triangular connecting rod 32 are respectively hinged to the fixed structure of the central wing 4 and one end of the hinge rod 35. The other end of the hinge rod 35 is hinged to the hinge support 31.

[0039] When concealment is required, the controller sends a command to the folding drive electric actuator 33, which drives its push rod to extend and push the triangular link 32 to move. The movement of the triangular link 32 is transmitted through the hinge rod 35, thereby driving the outer wing 2 to rotate 180° downward about the folding axis formed by the folding connecting lugs 34, and finally fold and fit tightly against the underside of the central wing 4.

[0040] The unfolding process is the reverse of the above process. The folding component 3 can be made of high-strength aluminum alloy or carbon fiber composite material to ensure structural strength while reducing weight.

[0041] In one specific embodiment, the folding drive electric actuator 33 can be composed of a folding drive motor and a ball screw mechanism.

[0042] It should be understood that, in some other embodiments, the folding drive motor in the folding drive electric actuator 33 can also be other drive structures or mechanical devices capable of realizing linear motion / telescopic motion / rotational motion. For example, it can be a servo motor, hydraulic cylinder, electric cylinder, etc. The ball screw mechanism can be a crank-connecting rod mechanism, gear reducer, belt drive mechanism, and chain drive mechanism, and can also be other transmission mechanisms that convert rotational motion into linear motion. This embodiment does not limit the specific type of transmission mechanism.

[0043] In this embodiment, the rotating component 1 is located at the center of the fuselage and is mainly used to drive and support the entire folded wing (i.e., the central wing 4 and the folded outer wing 2 below it) to rotate and lift. The rotating component 1 consists of a rotating drive motor 11, a central rotating shaft 12, a rotating disk 13, and a locking system for locking in the housing state and the deployed state.

[0044] Specifically, the central rotating shaft 12 is connected to the output shaft of the rotary drive motor 11 via a flange, and the rotary drive motor 11 is fixed to the fuselage frame. The central rotating shaft 12 has a semi-cylindrical helical central rotating shaft protrusion 20 on its side, and a matching helical inner guide rail 19 is provided on the inner ring of the rotating disk 13. The central wing 4 is fixedly connected to the outer periphery of the rotating disk 13 and rotates with the rotating disk 13. For example, the central wing 4 can be fixedly connected to the rotating disk 13 using flange bolts and locating pins. When the rotary drive motor 11 drives the central rotating shaft 12 to rotate, the central rotating shaft protrusion 20 will move under the constraint of the inner guide rail 19, thereby converting the rotational motion into a combined motion of rotation of the rotating disk 13 and lifting along the vertical direction (Z-axis).

[0045] In one specific embodiment, to achieve reliable locking of the containment state, a locking system is provided on the side of the rotating disk 13. This locking system includes a locking motor 15, a locking rod mechanism 14, and a locking rod groove 16 with an upper locking hole 17 and a lower locking hole 18. The locking motor 15 is fixed to the force transmission frame of the machine body, and its motor shaft is connected to the locking rod mechanism 14. The locking rod mechanism 14 includes a telescopic locking rod, which reciprocates along the motor shaft axis under the drive of the locking motor 15. The locking rod can slide within the locking rod groove 16. Before rotation begins, the locking motor 15 drives the locking rod to be pulled out of the lower locking hole 18, thus unlocking the disk. After the rotating disk 13 rotates and descends to its position under the drive, the locking rod moves along the groove to the position of the upper locking hole 17, and the locking motor 15 actuates again to insert the locking rod into the upper locking hole 17, completing the locking of the containment posture.

[0046] In one specific embodiment, the function of the rotating component 1 is configured as follows: When the device is stored, the locking system is first unlocked, and then the central rotating shaft 12 is driven to rotate by the rotation drive motor 11. The central rotating shaft protrusion 20 on the central rotating shaft 12 moves in the inner guide rail 19, thereby driving the rotating disk 13 to rotate, causing the rotating disk 13 to rotate 90° counterclockwise and descend 100mm along the vertical direction (Z-axis) to a position parallel to the body. Finally, the locking system is locked. When the device is unfolded, the locking system is first unlocked, and then the rotation drive motor 11 runs in the opposite direction, driving the central rotating shaft 12 and causing the rotating disk 13 to rotate 90° clockwise and rise 100mm along the vertical direction (Z-axis) to a position perpendicular to the body. Finally, the locking system is locked.

[0047] To ensure the automation and reliability of the take-off and deployment process, the entire system also includes a control and sensing system. This system includes a central controller and proximity sensors located at several key positions, such as the arrival point of the folding assembly 3 and the arrival point of the rotating assembly 1. After receiving take-off / deployment commands from the host computer or operator, the controller precisely controls the sequential actions of each component according to preset logic. Taking the take-off process as an example: the controller first controls the folding assembly 3 to release the flight status lock, and then activates the folding drive electric actuator 33. When the proximity sensor detects that the outer wing 2 has been folded into place, the controller controls the folding motor brake to lock it. Next, the controller controls the locking motor 15 of the rotating assembly 1 to unlock, and then activates the rotating drive motor 11. When the sensor detects that the rotating disk 13 has rotated and descended into place (i.e., the wing is parallel to the fuselage), the controller controls the rotating motor brake and instructs the locking motor 15 to drive the locking lever into the upper locking hole 17, completing the final locking. The deployment process is strictly performed in reverse order: first, the rotating component 1 is unlocked, the wing is rotated and raised to the flight position and locked; then, the folding component 3 is unlocked, the outer wing 2 is deployed to the horizontal position and locked. This interlocking logic ensures process safety and prevents accidental operation.

[0048] Example 2

[0049] Embodiment 2 of the present invention also provides a method for storing a UAV wing. Based on the UAV wing storage mechanism described in Embodiment 1, this method achieves automatic conversion of the wing from a flight attitude to a compact storage attitude through a sequence of operations of folding followed by rotation. The method specifically includes the following steps:

[0050] S1: Wing Folding Procedure. After receiving the retraction command, the central controller first sends a control signal to the folding assembly 3 to release its mechanical lock in flight mode. Subsequently, the controller drives the folding drive electric actuator 33 to actuate, pushing the triangular connecting rod 32 and the hinge rod 35, causing the outer wing 2 to rotate 180° around the folding axis formed by the folding connecting lug 34 under the fuselage until it is fully folded and fits against the underside of the central wing 4. When the proximity sensor located at the end of the folding path detects that the outer wing 2 has reached its position, the controller stops the folding drive electric actuator 33 and engages the brake to lock it.

[0051] S2: Rotation unlocking step. After confirming the completion of the folding action, the controller sends a command to the locking mechanism of the rotating assembly 1. The locking motor 15 is activated, driving the locking rod to be fully pulled out from the lower locking hole 18 of the locking rod slide groove 16, releasing the radial constraint on the rotating disk 13, and preparing for the rotational movement.

[0052] S3: Wing Rotation and Descending Procedure. After unlocking, the controller activates the rotary drive motor 11. The motor drives the central rotating shaft 12 to rotate, and the central rotating shaft protrusion 20 on the shaft moves in the inner guide rail 19 of the rotating disk 13, converting the rotational motion into a compound motion in which the rotating disk 13 rotates 90° counterclockwise around the vertical axis (Z-axis) while simultaneously descending vertically by 100mm. Ultimately, the rotating disk 13, which carries the folded wing, and the central wing 4 are positioned in a stowage position parallel to the drone fuselage.

[0053] S4: Rotation Locking Step. When the proximity sensor at the end of the rotation path detects that the rotating disk 13 has moved to the target pose (rotated 90° and lowered into position), the controller stops the rotation drive motor 11 and applies the brake. Simultaneously, the locking motor 15 is activated, driving the locking rod to move along the locking rod groove 16 and finally insert into the locking stop hole 17, achieving a secure mechanical lock in the retracted state. At this point, the wing retraction process is complete, and the UAV is in its minimum envelope size state.

[0054] It should be noted that the method for restoring the wings from the retracted state to the flight state is the reverse process of the retracted method described in this embodiment. It also follows a strict sequential interlock control logic, that is: first unlock the rotating component 1 and drive it back to its locked position, then unlock the folding component 3 and unfold the outer wing 2 to the horizontal position and lock it, so as to ensure safety and reliability.

[0055] Example 3

[0056] like Figure 1 As shown, Embodiment 3 of the present invention also provides a drone, which includes the drone wing storage mechanism described in Embodiment 1. The folding component 3 of the drone wing storage mechanism is arranged at the outer 1 / 3 of the wing's span.

[0057] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, 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, and therefore should not be construed as a limitation of this invention.

[0058] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A drone wing housing mechanism, characterized by, The utility model relates to a kind of unmanned aerial vehicle wing folding mechanism, including: Wing, including central wing (4) and outer wing (2); Folding assembly (3) is connected between the central wing (4) and the outer wing (2), for driving the outer wing (2) relative to the central wing (4) folding movement; Rotary assembly (1) is connected between unmanned aerial vehicle fuselage and the central wing (4), for driving and carrying the whole wing containing the outer wing (2) after folding rotates and lifts movement; Wherein, the folding assembly (3) and the rotary assembly (1) cooperate, so that wing is converted from unfolded flight attitude to parallel with the storage attitude of fuselage. 2.The UAV wing housing mechanism of claim 1, wherein The rotary assembly (1) includes rotary drive motor (11), central rotary shaft (12) and rotary disc (13);The rotary drive motor (11) is fixedly connected with unmanned aerial vehicle fuselage, its motor shaft is transmission connection with central rotary shaft (12), the side of central rotary shaft (12) is equipped with central rotary shaft boss (20), the inner ring of rotary disc (13) is equipped with with the inner guide rail (19) matched with the central rotary shaft boss (20);When the rotary drive motor (11) drives the central rotary shaft (12) rotates, the central rotary shaft boss (20) moves under the restraint of the inner guide rail (19), drives rotary disc (13) to execute rotation and lift compound motion along vertical direction. 3.The UAV wing housing mechanism of claim 2, wherein The rotary assembly (1) further includes locking system, for locking rotary disc (13) in storage attitude and unfolded attitude;The locking system includes locking motor (15), telescopic lock rod driven by the locking motor (15) and lock rod sliding groove (16) opened in the side of rotary disc (13), and the both ends of lock rod sliding groove (16) are equipped with upper locking hole (17) and lower locking hole (18) respectively;Telescopic lock rod can slide along lock rod sliding groove (16) under the drive of locking motor (15) and selectively insert upper locking hole (17) or lower locking hole (18). 4.The UAV wing housing mechanism of claim 3, wherein The folding assembly (3) includes folding drive electric actuator cylinder (33), triangular connecting rod (32), articulated rod (35) and a pair of folding connecting ear piece (34);The cylinder end of folding drive electric actuator cylinder (33) is hingedly fixed on the central wing (4), and the push rod end is hingedly connected with one vertex of triangular connecting rod (32);The other two vertices of triangular connecting rod (32) are respectively hingedly connected with the central wing (4) and one end of articulated rod (35);The other end of articulated rod (35) is hingedly connected with the internal structure of outer wing (2) through folding connecting ear piece (34);Folding drive electric actuator cylinder (33) drives triangular connecting rod (32) to move, and drives outer wing (2) to rotate around folding shaft constituted by folding connecting ear piece (34) through articulated rod (35).

5. The UAV wing stowage mechanism of any one of claim 4, wherein, Also included is a control and sensing system, which includes a central controller, and sensors arranged at key positions of the folding assembly (3) and the rotating assembly (1) movement path; the central controller is used to receive storage or unfolding instructions, and sequentially control the actions of the folding assembly (3) and the rotating assembly (1) and locking and unlocking according to the feedback signals of the sensors.

6. A method for storing a wing of a drone based on the drone wing storage mechanism according to claim 5, characterized by, The method includes the following steps: S1: folding step, controlling the folding assembly (3) to drive the outer wing (2) to fold relative to the central wing (4); S2: rotating step, after folding is completed, controlling the rotating assembly (1) to drive the entire wing to rotate and ascend / descend, so that the wing moves to a storage position parallel to the fuselage.

7. The method of claim 6, wherein, Step S1 includes: Release the flight state locking of the folding assembly (3); Drive the folding drive cylinder (33) to act, drive the outer wing (2) to rotate 180° downward around the folding shaft through the triangular connecting rod (32) and the hinged rod (35), until it is attached to the lower side of the central wing (4); After the sensor detects that the outer wing (2) is in place, control the folding drive cylinder (33) to stop and lock.

8. The method of claim 6, wherein, Step S2 includes: After confirming that folding is completed, the controller controls the locking system of the rotating assembly (1) to unlock; Drive the rotating drive motor (11), drive the rotating disc (13) and the wing to perform a combined rotating and descending motion through the cooperation of the central rotating shaft protrusion (20) and the inner guide rail (19); After the sensor detects that the rotating disc (13) moves to the target pose, control the rotating drive motor (11) to stop and control the locking system to lock.

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