CN112124564B - Fixed wing unmanned aerial vehicle folding mechanism based on launching tube - Google Patents

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a fixed-wing unmanned aerial vehicle folding mechanism based on a launching canister, which is characterized in that: at least comprises the following steps: expand support, axial pivot, gear drive, chord to joint, control double-deck wing, control the chord to joint mechanism through the joint base connect about double-deck wing inboard, gear drive with expand the steering wheel through expanding the support and being connected with axial pivot axle, gear drive includes: a driven gear, a driving gear; the unfolding steering engine is connected with a driving gear shaft through a driving shaft, the driving gear is connected with a driven gear radial tooth, and an axial rotating rod penetrates through the axis of the driven gear and is connected with the driven gear shaft. The folding mechanism of the fixed-wing unmanned aerial vehicle based on the launching tube is stable in lifting force, large in effective area of wings and capable of self-locking.

Description

Fixed wing unmanned aerial vehicle folding mechanism based on launching tube

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a fixed-wing unmanned aerial vehicle folding mechanism based on a launching tube.

Background

The development and application of the unmanned aerial vehicle have attracted high attention from various countries, and people put forward higher requirements on the environmental adaptability and the working field of the unmanned aerial vehicle. The unmanned aerial vehicle combines the launching canister to finish vertical launching, and the air task becomes the key point of research of all countries gradually. Launch canister transmission fixed wing unmanned aerial vehicle is different from traditional launch canister transmission and traditional folding wing unmanned aerial vehicle, need carry out drawing in and loading in the launch canister of wing to need an independence and independently operation ability powerful, flight is stable quick, the reliable folding scheme of structure.

The traditional folding scheme of the variable sweepback wing is to fix the wing roots of two wings on an axial rotating shaft and adopt the vertical arrangement. After folding, the two wings are overlapped together. The problem of this kind of folding scheme lies in that two wings that the height is inconsistent produce the lift and differ, can produce the roll moment, needs the aileron to divide into a part angle surplus alone and balance the roll moment, leads to the adjustment ability reduction of aileron.

The double-layer wing folding mechanism developed on the basis of the above design is used for carrying out mirror image arrangement on the upper wing and the lower wing to offset the generated roll torque. The folding mode can solve the problem of unbalanced roll moment of the wings, but increases the folding height of the folded wings, further increases the longitudinal height of the fuselage, and is not suitable for launching in a launching tube. For this purpose, another folding method divides the axial rotating shaft into two parts, and places the two parts at the edge of the fuselage section, and the wings at the two sides are stacked together side by side. The folding mode can solve the problem that the folding section area of the wing is too large, but the wing adopting the folding mode causes the waste of the folding surface area of the wing, does not have a self-locking function, and can cause the deformation, even the stalling and the crash of the wing due to the fact that the axial torque generated by the wing relative to a rotating shaft is too large when the wing flies at a high speed.

Some folding schemes that wings are attached to a fuselage are adopted, most of the folding schemes only have one of unfolding or folding capabilities, and self-locking in the resistance direction of the wings is only carried out, and self-locking in the lifting force direction of the wings is not carried out.

In addition, the above-mentioned folding wing scheme all does not possess the ability of adjusting the wing angle of attack, and the structure of traditional regulation wing angle of attack also is less applied to the folding wing field.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a fixed-wing unmanned aerial vehicle folding mechanism based on a launch canister, which has stable lift force, large effective area of wings and self-locking capability, so that the fixed-wing unmanned aerial vehicle can stably perform wing unfolding and folding actions, the stability of the folded wings during high-speed navigation can be ensured, and the attack angle of the wings can be accurately controlled to adapt to different flight conditions.

In order to achieve the above purpose, the present invention provides a folding mechanism of a fixed-wing drone based on a launching tube, which is characterized in that: at least comprises the following steps: expand support, axial pivot, gear drive, chord to joint, control double-deck wing, control the chord to joint mechanism through the joint base connect about double-deck wing inboard, gear drive with expand the steering wheel through expanding the support and being connected with axial pivot axle, gear drive includes: a driven gear, a driving gear; the unfolding steering engine is connected with a driving gear shaft through a driving shaft, the driving gear is connected with a driven gear radial tooth, and an axial rotating rod penetrates through the axis of the driven gear and is connected with the driven gear shaft; the unfolding steering engine controls the left and right joint mechanisms to perform axial rotary motion through the driving gear mechanism, and the left and right chordwise joint mechanisms control the left and right double-layer wings to realize rotation attack angles; when the fixed-wing unmanned aerial vehicle is changed into a vertical state through posture conversion, the folding action of the wings is carried out, the unfolding steering engine of the folding mechanism rotates clockwise to drive the axial rotating shaft to rotate anticlockwise, and the double-layer wings are folded axially around the axial rotating shaft; the joint steering engine is connected in the axial rotation direction through the wing connecting base and drives the wing connecting base to rotate, so that the double-layer wing rotates around the chord direction of the joint; the wing connecting base pushes the edges of the locking sheets to be unfolded under the driving of the joint steering engine, the locking sheets are tightly attached to the wing connecting base under the action of the locking springs, and the stability of wing unfolding is guaranteed by using friction force; under the state of double-layer wing spreading, the wings are kept horizontal under the action of the locking pieces and the locking springs, at the moment, the spreading steering engine drives the driving gear to rotate by the same angle through rotating by a small angle, the small-angle rotation of the spreading steering engine is reversely transmitted to the axial rotating shaft through the motion meshing of the driven gear, and the axial rotating shaft can reversely rotate by the same angle with the angle, so that the wings are driven to rotate by the same angle around the axial rotating shaft.

The left and right chordwise joints include: the wing connecting base is connected with the axial rotating rod through the wing connecting base, on the other hand, the wing connecting base is in friction connection with the locking piece on the side face of the wing connecting base, the wing connecting base is driven to rotate through the axial rotating rod, and the locking piece is tightly attached to the wing connecting base under the action of the locking spring.

The joint steering engine is fixed on the joint base, the joint base is movably supported by a left locking sheet and a right locking sheet on the one hand, and is supported by the wing connecting base around the upper end and the front end of the axial rotating rod at 90 degrees on the other hand; the axial rotating rod penetrates through two ends of the wing connecting base to drive the wing connecting base to rotate, the double-layer wing is unfolded in the chord direction around the joint, the wing connecting base is driven by the unfolding steering engine to push the edges of the locking pieces to be unfolded, and the locking pieces are connected with the wing connecting base under the action of the locking springs by means of friction force, so that the unfolding stability of the wing is guaranteed.

The locking piece is pulled to contract inwards by the locking spring and is buckled when the wing connecting base is horizontal, the protruding part and the joint steering engine realize self-locking of the double-layer wing, and the wing is prevented from deforming due to lift force and resistance generated on the wing during flying.

Compared with the prior art, the invention has the following advantages:

firstly, the folding mechanism of the fixed-wing unmanned aerial vehicle realizes folding and unfolding of wings by adopting gear transmission, ensures efficiency and is provided with a self-locking mechanism, and can meet the stability and reliability of the folded wings when the fixed-wing unmanned aerial vehicle carries out high-speed navigation;

secondly, the gear mechanism is adopted to control the attack angle of the unfolding wing, so that the wing can change the lift coefficient to adapt to different flight conditions, and the wing has wide applicability;

thirdly, the folding posture of the unmanned aerial vehicle is that the unmanned aerial vehicle body is attached to a fixed wing, the circular section of the launching tube can be utilized to the maximum extent, and the unmanned aerial vehicle has compact structure;

fourthly, the rudder is adopted to control the wing to be unfolded and folded, the control is simple and reliable, the wing can be unfolded and folded by one key, and the control autonomy and the simplicity are realized;

fifth, the invention has simple and reliable structure, simple manufacture, and high replaceability among most parts, and the parts are selected from standard parts.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is an exploded view of FIG. 1;

FIG. 3 is a schematic view of the present invention showing its expansion and contraction;

FIG. 4 is a schematic view of a deployment joint;

fig. 5 is an exploded view of the deployment joint.

In the figure: 1. unfolding the bracket; 2. an axial rotation shaft; 3. a driven gear; 4. a driving gear; 5. unfolding the steering engine; 6. a chordwise joint; 7. double-layer wings; 8. an aileron; 601. the wing is connected with the base; 602. a joint steering engine; 603. a locking spring; 604. a locking piece; 605. a joint base; 606. and (5) locking and guiding.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following description is presented to enable one of ordinary skill in the art to make and use the present invention as provided within the context of a fully functioning computer system. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.

As shown in fig. 1, 2 and 3, a folding mechanism for a fixed-wing drone based on a launch canister includes: the wing-shaped folding device comprises a unfolding support 1, anaxial rotating shaft 2, a driven gear 3, a driving gear 4, an unfolding steering gear 5, a chordwise joint 6, a double-layer wing 7, an aileron 8, awing connecting base 601, ajoint steering gear 602, alocking spring 603, alocking sheet 604, ajoint base 605 and alocking guide 606; about chord direction joint 6 passes throughjoint base 605 to be connected about double-deck wing 7 inboardly, and gear drive constructs and expandes steering wheel 5 and is connected with 2 axles of axial pivot through expandeing support 1, and gear drive includes: the unfolding steering engine 5 is connected with the driven gear 3 through the driving gear 4, the driving gear 4 is connected with the driven gear 3 in a radial tooth mode, and the axial rotating rod penetrates through the axis of the driven gear 3 and is connected with the shaft; the unfolding steering engine 5 controls the left and right chordwise joint 6 mechanisms through a driving gear mechanism, the left and right chordwise joint 6 mechanisms control the left and right double-layer wings 7 to realize rotation attack angles, and the gear mechanism has high precision and high reliability, so that the attack angles of the left and right double-layer wings 7 can be accurately and variably controlled, the wings generate different lift coefficients, and the wing can adapt to different flight conditions.

The chord-direction joint 6 comprises: awing attachment base 601; ajoint steering engine 602; alocking spring 603; alocking tab 604; an articulatedbase 605; thejoint steering engine 602 is connected with the axial rotatingshaft 2 through thejoint base 605, and on the other hand, thelocking sheet 604 on the side of thejoint base 605 is in friction connection with thewing connecting base 601, the chordwise joint 6 is driven to rotate through the axial rotatingshaft 2, and thelocking sheet 604 tightly fits thewing connecting base 601 under the action of thelocking spring 603.

When the fixed-wing unmanned aerial vehicle is changed into a vertical state through posture conversion, the folding action of the wings is carried out, the unfolding steering engine 5 of the folding mechanism rotates clockwise to drive the axial rotatingshaft 2 to rotate anticlockwise, and the double-layer wings 7 are folded axially around the axial rotatingshaft 2;

thejoint steering engine 602 is axially and rotationally connected with thewing connecting base 601 and drives thewing connecting base 601 to rotate, so that the double-layer wing 7 rotates around the chord direction of the joint;

thewing connecting base 601 is driven by thejoint steering engine 602 to push the edge of thelocking sheet 604 to unfold, thelocking sheet 604 is tightly attached to thewing connecting base 601 under the action of thelocking spring 603, and the unfolding stability of the wing is ensured by using friction force.

As shown in fig. 4 and 5, thejoint steering engine 602 is fixed on thewing connection base 601, the left andright locking pieces 604 are fixedly connected to thejoint base 605 by thelocking guide 606, only the axial displacement is kept, and thewing connection base 601 is clamped around the upper end and the front end of thejoint steering engine 602 by 90 degrees; the unfolding steering engine 5 drives thewing connecting base 601 to rotate, the double-layer wing 7 rotates around the chord direction of the joint, thewing connecting base 601 pushes the edges of thelocking pieces 604 to unfold under the driving of the unfolding steering engine 5, thelocking pieces 604 tightly attach to thewing connecting base 601 under the action of thelocking springs 603, and the unfolding stability of the wing is guaranteed by using friction force.

Alocking spring 603 is arranged between theleft locking sheet 604 and theright locking sheet 604, thelocking sheets 604 are matched with thejoint steering engine 602 for self-locking, and the self-locking is carried out by utilizing the friction force between thelocking sheets 604 and thewing connecting base 601 when the wing connecting base is unfolded, so that the capability of the wing axial torque borne by the steering engine can be improved.

When the fixed-wing unmanned aerial vehicle is changed into a vertical state through posture conversion, the folding action of the wings is carried out, the unfolding steering engine 5 of the folding mechanism rotates clockwise to drive the axial rotatingshaft 2 to rotate anticlockwise, and the double-layer wings 7 are folded axially around the axial rotatingshaft 2; thejoint steering engine 602 is connected to the axial rotating rod through thewing connecting base 601, and drives thewing connecting base 601 to rotate, so that the double-layer wing 7 rotates around the chord direction of the joint, thewing connecting base 601 pushes the edge of thelocking sheet 604 to unfold under the driving of the steering engine, thelocking sheet 604 is tightly attached to thewing connecting base 601 under the action of thelocking spring 603, and the unfolding stability of the wing is ensured by using friction force.

The unfolding bracket 1 is used as a basic mechanism of the folding mechanism, all the parts are directly or indirectly connected with the unfolding bracket 1, and the unfolding bracket 1 also has the function of connecting the folding mechanism with the machine body; the axial rotatingshaft 2 is used as a main rotating part, the motion of the axial rotating shaft is transmitted by the engagement of the driven gear 3 and the driving gear 4, the motion source is the unfolding steering engine 5, and when the mechanism adjusts the attack angle, the unfolding steering engine 5 is also used for driving the engagement gear to transmit the motion to the axial rotatingshaft 2 so as to adjust the attack angle of the wing; the joint is used as a key part for unfolding the wing in the chord direction and is fixedly connected with the axial rotatingshaft 2, the joint provides movement in the chord direction, the self-locking mechanism on the joint has movement reversibility, the limit of the self-locking mechanism is opened through the torque of the steering engine, the capacity of the steering engine for bearing the torque is improved, the limit of thelocking sheet 604 is opened through the torque of the steering engine when the wing is folded, and the wing is folded. The folding mechanism is unfolded and folded according to the principle that:

the principle that the folding mechanism controls the attack angle of the wing is as follows:

under the unfolding state of the double-layer wing 7, the wing is kept horizontal through the action of thelocking sheet 604 and thelocking spring 603, at the moment, the unfolding steering engine 5 drives the driving gear 4 to rotate by the same angle through rotating by a small angle, the small-angle rotation of the unfolding steering engine 5 is reversely transmitted to the axialrotating shaft 2 through the motion meshing of the driven gear 3, at the moment, the axialrotating shaft 2 can rotate by the same angle but in the reverse direction, so that the double-layer wing 7 is driven to rotate by the same angle around the axialrotating shaft 2, the attack angle of the wing can be changed from the side view of the body, and the lift coefficient of the wing is further changed. The lift coefficient of the wing is in a direct proportion relation with the attack angle within a certain range, generally, the larger the attack angle of the wing is, the larger the lift coefficient is, the variation range of the lift coefficient is different according to different wing profiles, and generally, the variation range of the lift coefficient is 0.5-1.5.

It will be understood that the terms "clockwise," "counterclockwise," "axial," "chordal," "reverse," "securement," "restraint," "locking," "inboard," "outboard," and the like, refer to an orientation or positional relationship illustrated in the drawings that is solely for the purpose of describing and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and be limiting of the present invention.

Well-known and conventional means in the industry that have not been described in detail in this example are not necessarily described herein. The present invention is not limited to the specific embodiments described above, and the above examples do not limit the scope of the present invention, and all modifications or variations that fall within the scope of the claims of the present invention fall within the scope of the present invention.

Claims (2)

Translated fromChinese

1.一种基于发射筒的固定翼无人机折叠机构，其特征是：至少包括：展开支架(1)、轴向转轴(2)、齿轮传动机构、弦向关节(6)、左右双层翼(7)，左右弦向关节(6)机构通过关节底座(605)连接在左右双层翼(7)内侧，齿轮传动机构和展开舵机(5)通过展开支架(1)与轴向转轴(2)轴连接，齿轮传动机构包括：从动齿轮(3)、主动齿轮(4)；展开舵机（5）通过驱动轴与主动齿轮（4）轴连接，主动齿轮（4）与从动齿轮（3）径向齿连接，轴向转动杆穿过从动齿轮（3）轴心与其轴连接；展开舵机（5）通过驱动齿轮机构控制左右关节机构进行轴向的旋转运动，由左右弦向关节（6）机构控制左右双层翼（7）实现转动迎角；当固定翼无人机经过姿态转换变为垂直状态后，进行机翼的收拢动作，折叠机构的展开舵机（5）顺时针转动，带动轴向转轴（2）逆时针转动，实现双层翼（7）绕轴向转轴（2）的轴向收拢；关节舵机（602）通过机翼连接底座（601）连接在轴向转动方向上，并带动机翼连接底座（601）旋转，实现双层翼（7）绕关节的弦向转动；机翼连接底座（601）在关节舵机（602）的带动下，推动锁紧片（604）的边缘展开，锁紧片（604）在锁紧弹簧（603）的作用下紧紧贴合机翼连接底座（601），利用摩擦力保证机翼展开的稳定；双层翼（7）展开状态下，通过锁紧片（604）与锁紧弹簧（603）的作用，机翼将保持水平，此时，展开舵机（5）通过旋转小角度带动主动齿轮（4）旋转相同的角度，经过从动齿轮（3）的运动啮合，将展开舵机（5）的小角度转动反向地传递至轴向转轴（2），轴向转轴（2）会同角度反方向地旋转相同角度，从而带动机翼绕轴向转轴（2）旋转同样角度；1. A fixed-wing unmanned aerial vehicle folding mechanism based on a launching tube, is characterized in that: at least comprising: unfolding bracket (1), axial rotating shaft (2), gear transmission mechanism, chordwise joint (6), left and right double layers The wings (7), the left and right chordwise joint (6) mechanisms are connected to the inner side of the left and right double-layer wings (7) through the joint base (605), and the gear transmission mechanism and the deployment steering gear (5) are connected to the axial rotation shaft through the deployment bracket (1). (2) The shaft is connected, and the gear transmission mechanism includes: a driven gear (3) and a driving gear (4). The gear (3) is connected with radial teeth, and the axial rotation rod is connected with its shaft through the axis of the driven gear (3); The chordwise joint (6) mechanism controls the left and right double-layer wings (7) to realize the rotation angle of attack; when the fixed-wing UAV is transformed into a vertical state after the attitude conversion, the wings are folded, and the unfolding steering gear (5) of the folding mechanism ) rotates clockwise to drive the axial shaft (2) to rotate counterclockwise to realize the axial retraction of the double-layer wing (7) around the axial shaft (2); the joint steering gear (602) is connected through the wing connecting base (601) In the axial direction of rotation, the wing connecting base (601) is driven to rotate to realize the chord-direction rotation of the double-layered wing (7) around the joint; the wing connecting base (601) is driven by the joint steering gear (602), Push the edge of the locking piece (604) to unfold, the locking piece (604) tightly fits the wing connection base (601) under the action of the locking spring (603), and uses friction to ensure the stability of the wing unfolding; When the layer wing (7) is unfolded, the wing will be kept horizontal by the action of the locking piece (604) and the locking spring (603). ) rotate at the same angle, and through the motion meshing of the driven gear (3), the small-angle rotation of the deployment servo (5) is reversely transmitted to the axial shaft (2), and the axial shaft (2) will be in the opposite direction of the angle. The ground rotates by the same angle, thereby driving the wing to rotate by the same angle around the axial shaft (2);所述的左右弦向关节（6）包括：机翼连接底座（601）、关节舵机（602）、锁紧弹簧（603）、锁紧片（604）、关节底座（605）、锁紧导向（606），关节舵机（602）通过机翼连接底座（601）连接轴向转动杆，另一方面通过机翼连接底座（601）侧面的锁紧片（604）与机翼连接底座（601）摩擦连接，通过轴向转动杆带动机翼连接底座（601）旋转，锁紧片（604）在锁紧弹簧（603）的作用下使锁紧片（604）紧紧贴合机翼连接底座（601）；The left and right chordwise joints (6) include: a wing connection base (601), a joint steering gear (602), a locking spring (603), a locking piece (604), a joint base (605), a locking guide (606), the joint steering gear (602) is connected to the axial rotation rod through the wing connecting base (601), and on the other hand, the locking piece (604) on the side of the wing connecting base (601) is connected to the wing connecting base (601). ) friction connection, drive the wing connection base (601) to rotate through the axial rotation rod, the locking piece (604) under the action of the locking spring (603) makes the locking piece (604) tightly fit the wing connection base (601);所述的关节舵机（602）固定在关节底座（605）上，关节底座（605）一方面由左右锁紧片（604）左右活动加持，另一方面由机翼连接底座（601）绕轴向转动杆上端和前端90度加持；轴向转动杆穿过机翼连接底座（601）两端带动机翼连接底座（601）旋转，实现双层翼（7）绕关节的弦向展开，机翼连接底座（601）在展开舵机（5）的带动下，推动锁紧片（604）的边缘展开，锁紧片(604)在锁紧弹簧(603)的作用下利用摩擦力作用机翼连接底座（601），保证机翼展开的稳定。The joint steering gear (602) is fixed on the joint base (605), and the joint base (605) is supported by the left and right locking pieces (604) on the one hand, and on the other hand, the wing connecting base (601) revolves around the axis The upper end and the front end of the rotating rod are supported at 90 degrees; the axial rotating rod passes through the two ends of the wing connecting base (601) to drive the wing connecting base (601) to rotate, so that the double-layer wings (7) can be unfolded around the chord direction of the joint. Driven by the deployment steering gear (5), the wing connection base (601) pushes the edge of the locking piece (604) to unfold, and the locking piece (604) uses friction to act on the wing under the action of the locking spring (603). Connect the base (601) to ensure the stability of the wing deployment.2.根据权利要求1所述的一种基于发射筒的固定翼无人机折叠机构，其特征在于：所述的利用摩擦力保证机翼展开的稳定是通过锁紧弹簧（603）拉动锁紧片（604）向内收缩，并在机翼连接底座（601）水平时扣合，此时凸出部分与关节舵机（602）实现双层翼（7）的自锁，保证机翼不因飞行时机翼上产生的升力和阻力而变形。2. The fixed-wing unmanned aerial vehicle folding mechanism based on the launch tube according to claim 1, characterized in that: the use of friction to ensure the stability of the unfolding of the wings is to pull and lock the locking spring (603). The sheet (604) shrinks inwards, and buckles when the wing is connected to the base (601) horizontally. At this time, the protruding part and the joint steering gear (602) realize the self-locking of the double-layer wing (7) to ensure that the wing does not Deformation due to lift and drag on the wing during flight.

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