CN103224021A - Pneumatic folding apparatus of variable-wing sweepback angle suitable for aeronaval unmanned aerial vehicle - Google Patents
Pneumatic folding apparatus of variable-wing sweepback angle suitable for aeronaval unmanned aerial vehicle Download PDFInfo
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- CN103224021A CN103224021A CN201310087234XA CN201310087234A CN103224021A CN 103224021 A CN103224021 A CN 103224021A CN 201310087234X A CN201310087234X A CN 201310087234XA CN 201310087234 A CN201310087234 A CN 201310087234A CN 103224021 A CN103224021 A CN 103224021A
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Abstract
The invention discloses a pneumatic folding apparatus of a variable-wing sweepback angle suitable for an aeronaval unmanned aerial vehicle. The folding apparatus comprises a folding wing support, a left wing driving assembly, a right wing driving assembly and a tucking-expansion transition assembly; and the left wing driving assembly and the right wing driving assembly are symmetrically installed at two ends of the folding wing support, and the tucking-expansion transition assembly is installed on the fixed plate of a frame assembly. The left and right wing driving assemblies are respectively provided with a self-locking composition, so when the wing driving assemblies arrive the tucking or expansion position, the positions of the wing driving assemblies can be fixed by inserting self-locking shafts into self-locking through holes, thereby the tucking and expansion positions of wings can be reliably maintained. The apparatus allows the tucking and the expansion of the wings to be controlled through adjusting the sweepback angles of the wings according to different work environments, so the gather adaptability of unmanned aerial vehicles in different fluid medium environments is increased.
Description
Technical field
The present invention relates to the actuating device of the wing that a kind of unmanned plane uses, more particularly say, be meant a kind of pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait.
Background technology
Unmanned plane is the abbreviation of push-button aircraft, and english abbreviation is UAV(Unmanned Aerial Vehicle).
The most important requirement of the design of unmanned plane is to reach under the sufficiently solid situation in the fuselage system, and is lighter as far as possible.And that various mission payloads require unmanned plane down to leave the space and the quality quota of motion work for is all very limited, flexibly as high speed rotating, to change favourable controlled motion also efficiently with actuation movement basic on the engineering into.Basic aviation type of drive comprises direct drive, ratio amplification driving, electric power servo-drive and hydraulic servo driving etc.
Unmanned plane is the not manned aircraft that utilizes radio robot and the process controller of providing for oneself to handle.Do not have driving compartment on the machine, but equipment such as autopilot, process controller are installed.On ground, the naval vessels or machine tool command and control station personnel by equipment such as radars, to its follow the tracks of, location, remote control, remote measurement and digital communication.Can under radio telecommand, take off or launch, also can take aerial input flight to by machine tool with booster rocket as conventional airplane.During recovery, the available mode the same with the conventional airplane landing mission landed automatically, also can reclaim with parachute or block by remote control.But repetitiousness uses repeatedly.Be widely used in aerial reconnaissance, supervision, communication, antisubmarine, electro countermeasure etc.
National Defense Industry Press, the 1st edition the 1st printing March in 2009, " Unmanned Aircraft Systems (UAS) and fight and use " book that Wei Ruixuan, Li Xueren write has been introduced the general composition (the 2nd page, shown in Fig. 1-2) of Unmanned Aircraft Systems (UAS) in the 1st chapter introduction Unmanned Aircraft Systems (UAS).Wherein, aircraft system includes airframe systems, propulsion system, flight control system and navigationsystem.
The wing of present unmanned plane is generally stationary structure, the sweepback angle is generally non-adjustable, can not draw in wing and launch according to concrete applied environment (under water or in the air) with the requirement that conforms, and the actuating device with unmanned plane folding wings of folding wings function also adopts motors or hydraulic-driven more, the structure of actuating device is comparatively complicated, has increased integral structure weight.
Summary of the invention
In order to make unmanned plane can adapt to flight under the water idle loop border, the present invention has designed a kind of pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait.This device can be adjusted the sweepback angle of wing according to the empty different work environment of water, and the gathering and the expansion of control wing improve the comformability that unmanned plane gathers at the different fluid media environment.When aloft flying, the span of folding device controlling machine is opened, and reduces wing setting, helps producing lift and finishes aerial work; When environment navigated by water under water, folding device control wing drew in, increases wing setting, reduces the resistance of forward movement, is beneficial to submarine navigation.This device utilizes high-pressure gas bottle that source of the gas is provided, and provides the propulsive effort of wing driven unit by pressurized strut, realizes the gathering of left and right sides wing and launches function.Control the flow direction of air-flow by changing control gas change-over valve on the other hand, can change the direction that gas cylinder mesohigh gas enters pressurized strut, realize the change of the sense of motion of pressurized strut push rod, drive the gathering and the expansion of left and right driven unit, thereby finish the gathering and the expansion of left and right sides wing.
A kind of pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait of the present invention, its pneumatic type folding device that becomes wing setting include folding wings supporter (10), left wing's driven unit (8), right flank driven unit (9) and draw in and launch transition components (11);
Folding wings supporter (10) includes upper support transverse slat (10A), lower support transverse slat (10B), first support post (10C), second support post (10D), the 3rd support post (10E), the 4th support post (10F), the 5th support post (10G), the 6th support post (10H), the 7th support post (10I), the 8th support post (10J); Wherein, the 5th support post (10G), the 6th support post (10H), the 7th support post (10I) are identical with the structure of the 8th support post (10J), and are the quadrangle layout between upper support transverse slat (10A) and lower support transverse slat (10B); Wherein, first support post (10C), second support post (10D), the 3rd support post (10E) are identical with the structure of the 4th support post (10F), and are the quadrangle layout between upper support transverse slat (10A) and lower support transverse slat (10B);
Left wing's driven unit (8) includes left-hand rotation arm (8A), upper left axle sleeve (8B), lower-left axle sleeve (8C), left self-locking body (8D), left rotary shaft (8E), left deep groove ball bearing (8F), left pressurized strut connecting rod (8G), left limit piece (8H) and left limit post (8J); Left side deep groove ball bearing (8F) is socketed on the bearing section (8E1) of left rotary shaft (8E), left side deep groove ball bearing (8F) is installed in the left bearing chamber (8A4) of left-hand rotation arm (8A), the upper end of left rotary shaft (8E) is installed in the left axis hole (8B3) of Upper shaft sleeve (8B), the lower end of left rotary shaft (8E) is installed in the left axis hole (8C3) of Lower shaft sleeve (8C), the following embossed card tooth (8B2) of Upper shaft sleeve (8B) and the engagement of the last embossed card tooth (8A31) of left-hand rotation arm (8A), the last embossed card tooth (8C2) of Lower shaft sleeve (8C) and the engagement of the following embossed card tooth (8A32) of left-hand rotation arm (8A), left limit post (8J) is installed in the GI through hole (8H1) of left limit piece (8H) after passing the spacing hole (8B12) of Upper shaft sleeve (8B), left limit piece (8H) is installed in the bottom of upper backup pad (10A), a left side is installed in the top of upper backup pad (10A) from the base plate (8D32) of lock tube (8D3), left side lock shaft (8D1) is installed in the inside of a left side from lock tube (8D3), and an end of left lock shaft (8D1) is installed in the GG through hole (8B11) of Upper shaft sleeve (8B), and an end of left lock shaft pin (8D2) passes chute (8D31) and GH through hole (8D11).
Right flank driven unit (9) includes right-hand rotation arm (9A), upper right axle sleeve (9B), bottom right axle sleeve (9C), right self-locking body (9D), right spindle (9E), right deep groove ball bearing (9F), right pressurized strut connecting rod (9G), right limit piece 9H and right limit post (9J); Right deep groove ball bearing (9F) is socketed on the bearing section (9E1) of right spindle (9E), right deep groove ball bearing (9F) is installed in the right bearing chamber (9A4) of right-hand rotation arm (9A), the upper end of right spindle (9E) is installed in the right axis hole (9B3) of Upper shaft sleeve (9B), the lower end of right spindle (9E) is installed in the right axis hole (9C3) of Lower shaft sleeve (9C), the following embossed card tooth (9B2) of Upper shaft sleeve (9B) and the engagement of the last embossed card tooth (9A31) of right-hand rotation arm (9A), the last embossed card tooth (9C2) of Lower shaft sleeve (9C) and the engagement of the following embossed card tooth (9A32) of right-hand rotation arm (9A), right limit post (9J) is installed in the GGI through hole (9H1) of right limit piece (9H) after passing the spacing hole (9B12) of Upper shaft sleeve (9B), right limit piece (9H) is installed in the bottom of upper backup pad (10A), the right top that is installed in upper backup pad (10A) from the base plate (9D32) of lock tube (9D3), right lock shaft (9D1) is installed in right inside from lock tube (9D3), and an end of right lock shaft (9D1) is installed in the GGG through hole (9B11) of Upper shaft sleeve (9B), and an end of right lock shaft pin (9D2) passes chute (9D31) and GGH through hole (9D11).
Draw expansion transition components (11) in and include high-pressure gas bottle (11G), first pressurized strut (111), second pressurized strut (112), the 3rd pressurized strut (113), the 4th pressurized strut (114), first change-over valve (11C), second change-over valve (11D), commutation steering wheel (11A), a Y shape flexible pipe (11H), the 2nd Y shape flexible pipe (11J), the 3rd Y shape flexible pipe (11K), the 4th Y shape flexible pipe (11L) and the 5th Y shape flexible pipe (11M);
The one Y shape flexible pipe (11H) is provided with AA interface (11H1), AB interface (11H2), AC interface (11H3); Described AA interface (11H1) is connected with the gas cylinder exhausr port (11G1) of high-pressure gas bottle (11G); Described AB interface (11H2) is connected with the AA air guide port (11C1) of first change-over valve (11C); Described AC interface (11H3) is connected with the BA air guide port (11D1) of second change-over valve (11D).The 2nd Y shape flexible pipe (11J) is provided with BA interface (11J1), BB interface (11J2), BC interface (11J3); Described BA interface (11J1) is connected with the AB air guide port (11C2) of first change-over valve (11C); Described BB interface (11J2) is connected with the CB air guide port (111b) of first pressurized strut (111); Described BC interface (11J3) is connected with the DA air guide port (112b) of second pressurized strut (112).The 3rd Y shape flexible pipe (11K) is provided with CA interface (11K1), CB interface (11K2), CC interface (11K3); Described CA interface (11K1) is connected with the BB air guide port (11D2) of second change-over valve (11D); Described CB interface (11K2) is connected with the EB air guide port (113b) of the 3rd pressurized strut (113); Described CC interface (11K3) is connected with the FB air guide port (114b) of the 4th pressurized strut (114).The 4th Y shape flexible pipe (11L) is provided with DA interface (11L1), DB interface (11L2), DC interface (11L3); Described DA interface (11L1) is connected with the AC air guide port (11C3) of first change-over valve (11C); Described DB interface (11L2) is connected with the CA air guide port (111a) of first pressurized strut (111); Described DC interface (11L3) is connected with the DA air guide port (112a) of second pressurized strut (112).The 5th Y shape flexible pipe (11M) is provided with EA interface (11M1), EB interface (11M2), EC interface (11M3); Described EA interface (11M1) is connected with the BC air guide port (11D3) of second change-over valve (11D); Described EB interface (11M2) is connected with the EA air guide port (113a) of the 3rd pressurized strut (113); Described EC interface (11M3) is connected with the FA air guide port (114a) of the 4th pressurized strut (114).
The left end of upper support transverse slat (10A) is provided with AB through hole (10A2), AF through hole (10A4), AH through hole (10A6); The right-hand member of upper support transverse slat (10A) is provided with AA through hole (10A1), AE through hole (10A3), AG through hole (10A5);
AB through hole (10A2) is used to place an end of the left rotary shaft (8E) of left wing's driven unit (8), and the other end of left rotary shaft (8E) places in the AD through hole (10B2) of lower support transverse slat (10B).
AF through hole (10A4) is used for left lock shaft (8D1) and passes, described left lock shaft (8D1) is installed in a left side in lock tube (8D3) by left lock shaft pin (8D2), and a described left side is installed in from the base plate (8D32) of lock tube (8D3) on the upper face of left end of upper support transverse slat (10A).
AH through hole (10A6) is used for left limit post (8J) and passes, and the end of passing the left limit post (8J) of AH through hole (10A6) places the spacing hole (8B12) of upper left axle sleeve (8B).
AA through hole (10A1) is used to place an end of the right spindle (9E) of right flank driven unit (9), and the other end of right spindle (9E) places in the AC through hole (10B1) of lower support transverse slat (10B).
AE through hole (10A3) is used for right lock shaft (9D1) and passes, described right lock shaft (9D1) is installed in right in lock tube (9D3) by right lock shaft pin (9D2), the described right side is installed in from the base plate (9D32) of lock tube (9D3) on the upper face of right-hand member of upper support transverse slat (10A).
AG through hole (10A5) is used for right limit post (9J) and passes, and the end of passing the right limit post (9J) of AH through hole (10A6) places the spacing hole (9B12) of upper right axle sleeve (9B).
The two ends of lower support transverse slat (10B) are provided with AC through hole (10B1) and AD through hole (10B2);
Described AC through hole (10B1) is used to place the other end of the left rotary shaft (8E) of left wing's driven unit (8);
Described AD through hole (10B2) is used to place the other end of the right spindle (9E) of right flank driven unit (9).
The left self-locking shaft (8D1) of the left self-locking body (8D) in left wing's driven unit (8), movement relation under the dynamic condition that left self-locking steering wheel (8K) provides is: the rotation of left-hand rotation arm (8A) drives upper left axle sleeve (8B) and rotates, (8B) turns to end position when upper left axle sleeve, left side self-locking steering wheel (8K) rotates, drive its swing arm (8K1) to lower swing, the swing of swing arm (8K1) transmits motion to left lock shaft (8D1) by left lock shaft pin (8D2), left lock shaft (8D1) is moved downward, enter in the GG through hole (8B11), limiting upper left axle sleeve (8B) rotates, thereby restriction left-hand rotation arm (8A) rotates, and realizes its self-locking.
The right self-locking shaft (9D1) of the right self-locking body (9D) in the right flank driven unit (9), movement relation under the dynamic condition that right self-locking steering wheel (9K) provides is: the rotation of right-hand rotation arm (9A) drives upper right axle sleeve (9B) and rotates, when Upper shaft sleeve turns to end position, right self-locking steering wheel (9K) rotates, drive its swing arm (9K1) to lower swing, the swing of swing arm (9K1) transmits motion to right lock shaft (9D1) by right lock shaft pin (9D2), right lock shaft (9D1) is moved downward, enter in the GG through hole (9B11), limiting upper right axle sleeve (9B) rotates, thereby restriction right-hand rotation arm (9A) rotates, and realizes its self-locking.
The advantage that design-calculated of the present invention becomes the pneumatic type folding device of wing setting is:
1. the drive source that adopts pneumatics to launch and draw in as the wing driven unit, improved the speed of response of actuating device, drive actuating unit and select the pneumatic type pressurized strut, when alleviating structural weight, also simplified the design of actuating unit, and the high-pressure air source that drives usefulness obtains easily, has reduced the cost of energy resource consumption.
2. the pneumatic type folding device of this change wing setting is controlled change-over valve by Aircraft Steering Engine, change the action direction of high pressure gas to pressurized strut, make the release of pressurized strut push rod or retract, drive the motion of wing driven unit by pressurized strut, realize the expansion and the gathering of wing, reversing mode is simple and reliable.
3. wing driven unit in the left and right sides is respectively equipped with spacing hole and limited post, by the layout of limited post at spacing hole's two limit positions, can to the wing driven unit draw in and launch after the position limit, thereby determined the degree of wing-folding and expansion.，
4. the left and right driven unit is respectively equipped with self-locking structure; when the left and right driven unit arrives the position (position limiting structure is determined) of drawing in or launching; self-locking shaft can be inserted the position that the self-locking through hole fixes the wing driven unit, thus the position that keeps wing to draw in and launch more reliably.
Description of drawings
Fig. 1 is the outside plan structure figure of the amphibious unmanned plane of a kind of sky over strait.
Figure 1A is the assembly drowing of the assembly of setting a roof beam in place, wing and the pneumatic type folding device of the amphibious unmanned plane of a kind of sky over strait.
Fig. 2 is the constructional drawing that the present invention becomes the pneumatic type folding device of wing setting.
Fig. 3 is the assembly drowing of folding supporter of the present invention and left and right driven unit.
Fig. 3 A is another visual angle figure of the assembling of folding supporter of the present invention and left and right driven unit.
Fig. 4 is the constructional drawing of the folding supporter of the present invention.
Fig. 5 is that the present invention draws the constructional drawing that launches transition components in.
Fig. 5 A is the constructional drawing of a Y type flexible pipe.
Fig. 5 B is the constructional drawing of the 2nd Y type flexible pipe.
Fig. 5 C is the constructional drawing of the 3rd Y type flexible pipe.
Fig. 5 D is the constructional drawing of the 4th Y type flexible pipe.
Fig. 5 E is the constructional drawing of the 5th Y type flexible pipe.
Fig. 6 is the constructional drawing of left wing of the present invention driven unit.
Fig. 6 A is the exploded drawings of left wing of the present invention driven unit.
Fig. 6 B is the constructional drawing of left-hand rotation arm in the left wing of the present invention driven unit.
Fig. 6 C is another visual angle constructional drawing of left-hand rotation arm in the left wing of the present invention driven unit.
Fig. 7 is the constructional drawing of right flank driven unit of the present invention.
Fig. 7 A is the exploded drawings of right flank driven unit of the present invention.
Fig. 7 B is the constructional drawing of right-hand rotation arm in the right flank driven unit of the present invention.
Fig. 7 C is another visual angle constructional drawing of right-hand rotation arm in the right flank driven unit of the present invention.
| 8. left wing's driven |
8A. left-hand rotation arm | 8A1. left first hold-down arm | 8A11.GE through hole | |
| 8A12.GA through hole | 8A13.GB through hole | 8A2. left second hold-down arm | 8A21.GF through hole | |
| 8A22.GC through hole | 8A23.GD through hole | 8A3. left supporter | 8A31. last embossed card tooth | |
| 8A32. following embossed card tooth | 8A4. left bearing |
8B. upper left axle sleeve | 8B1. disk | |
| 8B11. spacing hole | 8B11a. expansion positive stop end | 8B11b. gathering positive stop end | 8B12. launch the self-locking blind hole | |
| 8B13. draw the self-locking blind hole in | 8B2. following embossed card tooth | 8B3. |
8C. lower-left axle sleeve | |
| 8C1. disk | 8C2. last embossed card tooth | 8C3. |
8D. left self-locking body | |
| 8D1. left lock shaft | 8D11.GH through hole | 8D2. left lock shaft pin | 8D3. a left side is from lock tube | |
| 8D31. chute | 8D32. base plate | 8D33. |
8E. left rotary shaft | |
| 8E1. bearing |
8F. left deep |
8G. left pressurized |
8H. left limit piece | |
| 8H1.GI through |
8J. |
8K. left wing's self-locking steering wheel | 8K1. |
|
| 9. right flank driven |
9A. right-hand rotation arm | 9A1. right first hold-down arm | 9A11.GGE through hole | |
| 9A12.GGA through hole | 9A13.GGB through hole | 9A2. right second hold-down arm | 9A21.GGF through hole | |
| 9A22.GGC through hole | 9A23.GGD through hole | 9A3. right supporter | 9A31. last embossed card tooth | |
| 9A32. following embossed card tooth | 9A4. |
9B. upper right axle sleeve | 9B1. disk | |
| 9B11. spacing hole | 9B11a. expansion positive stop end | 9B11b. gathering positive stop end | 9B12. launch the self-locking blind hole | |
| 9B13. draw the self-locking blind hole in | 9B2. following embossed card tooth | 9B3. |
9C. bottom right axle sleeve | |
| 9C1. disk | 9C2. last embossed card tooth | 9C3. |
9D. right self-locking body | |
| 9D1. right lock shaft | 9D11.GGH through hole | 9D2. right lock shaft pin | 9D3. it is right from lock tube | |
| 9D31. chute | 9D32. base plate | 9D33. |
9E. right spindle | |
| 9E1. bearing |
9F. right deep |
9G. right pressurized |
9H. right limit piece | |
| 9H1.GGI through |
9J. |
9K. right flank self-locking steering wheel | 9K1. |
|
| 10. |
10A. upper support transverse slat | 10A1.AA through hole | 10A2.AB through hole | |
| 10A3.AE through hole | 10A4.AF through hole | 10A5.AG through hole | 10A6.AH through |
|
| 10B. lower support transverse slat | 10B1.AC through hole | 10B2.AD through |
10C. |
|
| 10D. |
10E. the |
10F. the 4th support post | 10G. the 5th support post | |
| 10H. the 6th support post | 10I. the 7th support post | 10J. the 8th support post | |
|
| 111. first pressurized strut | 111a.CA air guide port | 111b.CB |
112. second pressurized strut | |
| 112a.DA air guide port | 112b.DB |
113. the 3rd pressurized strut | 113a.EA air guide port | |
| 113b.EB |
114. the 4th pressurized strut | 114a.FA air guide port | 114b.FB |
|
| 11A. commutation steering wheel | 11A1. rocking |
11B. first connecting |
11C. first change-over valve | |
| 11C1.AA air guide port | 11C2.AB air guide port | 11C3.AC |
11D. second change-over valve | |
| 11D1.BA air guide port | 11D2.BB air guide port | 11D3.BC |
11E. |
|
| 11F. second connecting |
11G. | A | 11H. Y shape flexible pipe | 11H1.AA interface |
| 11H2.AB interface | 11H3.AC interface | 11J. the 2nd Y shape flexible pipe | 11J1.BA interface |
[0047]?
| 11J2.BB interface | |
11K. the 3rd Y shape flexible pipe | 11K1.CA interface | |
| 11K2.CB | 11K3.CC interface | 11L. the 4th Y shape flexible pipe | 11L1.DA interface | |
| 11L2.DB interface | |
11M. the 5th Y shape flexible pipe | 11M1.EA interface | |
| 11M2.EB interface | 11M3.EC interface | 1. coaxial anti-oar assembly | 2. underwater propulsion assembly | |
| 3.V type tail assembly | 4. |
5. |
6. the assembly of setting a roof beam in place | |
| 6A. first strut bar | 6B. |
6C. the |
6D. the 4th strut bar | |
| 6J. strut bar terminal pad | 6J3. last erecting frame | 6J4. following erecting frame | ? |
The specific embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
A kind of plan structure that is applicable to the amphibious unmanned plane of sky over strait is shown in Fig. 1, Figure 1A, and this unmanned plane includes aerial propelling unit 1, underwater propulsion assembly 2, vee tail assembly 3, left wing component 4, right flank assembly 5, the fuselage 6 of setting a roof beam in place, water air bag and holds up assembly 7, left wing's driven unit 8, right flank driven unit 9, folding wings supporter 10 and draw in and launch transition components 11;
Wherein, left wing component 4, left wing's driven unit 8, right flank assembly 5, right flank driven unit 9 and folding wings supporter 10 constitute the folding wing part of unmanned plane;
Wherein, left wing component 4 is identical with the structure of right flank assembly 5, and installs with fuselage central axis symmetry;
Wherein, left wing's driven unit 8 is identical with the structure of right flank driven unit 9, and is installed on the folding wings supporter 10 with fuselage central axis symmetry.
In the present invention, referring to Fig. 2～shown in Figure 7, a kind of pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait, it includes folding wings supporter 10, left wing's driven unit 8, right flank driven unit 9 and draws in and launch transition components 11.
Referring to Fig. 2, Fig. 3, Fig. 3 A, shown in Figure 4, folding wings supporter 10 includes upper support transverse slat 10A, lower support transverse slat 10B, the first support post 10C, the second support post 10D, the 3rd support post 10E, the 4th support post 10F, the 5th support post 10G, the 6th support post 10H, the 7th support post 10I, the 8th support post 10J;
Wherein, the 5th support post 10G, the 6th support post 10H, the 7th support post 10I are identical with the structure of the 8th support post 10J, and are the quadrangle layout between upper support transverse slat 10A and lower support transverse slat 10B;
Wherein, the first support post 10C, the second support post 10D, the 3rd support post 10E are identical with the structure of the 4th support post 10F, and are the quadrangle layout between upper support transverse slat 10A and lower support transverse slat 10B.The 3rd pressurized strut 113 and the 4th pressurized strut 114 keeping parallelisms and be welded on the 3rd support post 10E.First pressurized strut 111 and second pressurized strut, 112 keeping parallelisms and be welded on the 4th support post 10F.
The left end of upper support transverse slat 10A is provided with AB through hole 10A2, AF through hole 10A4, AH through hole 10A6; The right-hand member of upper support transverse slat 10A is provided with AA through hole 10A1, AE through hole 10A3, AG through hole 10A5.
AB through hole 10A2 is used to place the end of the left rotary shaft 8E of left wing's driven unit 8, and the other end of left rotary shaft 8E places in the AD through hole 10B2 of lower support transverse slat 10B.
AF through hole 10A4 is used for left lock shaft 8D1 and passes, and described left lock shaft 8D1 is installed in a left side in lock tube 8D3 by left lock shaft pin 8D2, and a described left side is installed in from the base plate 8D32 of lock tube 8D3 on the upper face of left end of upper support transverse slat 10A.
AH through hole 10A6 is used for left limit post 8J and passes, and the end of passing the left limit post 8J of AH through hole 10A6 places the 8B12 of spacing hole of upper left axle sleeve 8B.
AA through hole 10A1 is used to place the end of the right spindle 9E of right flank driven unit 9, and the other end of right spindle 9E places in the AC through hole 10B1 of lower support transverse slat 10B.
AE through hole 10A3 is used for right lock shaft 9D1 and passes, and described right lock shaft 9D1 is installed in right in lock tube 9D3 by right lock shaft pin 9D2, and the described right side is installed in from the base plate 9D32 of lock tube 9D3 on the upper face of right-hand member of upper support transverse slat 10A.
AG through hole 10A5 is used for right limit post 9J and passes, and the end of passing the right limit post 9J of AH through hole 10A6 places the 9B12 of spacing hole of upper right axle sleeve 9B.
The two ends of lower support transverse slat 10B are provided with AC through hole 10B1 and AD through hole 10B2; Described AC through hole 10B1 is used to place the other end of the left rotary shaft 8E of left wing's driven unit 8; Described AD through hole 10B2 is used to place the other end of the right spindle 9E of right flank driven unit 9.
In the present invention, folding wings supporter 10 is as the roof beam structure body of unmanned plane carries left right flank, and its structure design is simple, practicality.The strut bar terminal pad 6J of the front end link span beam assembly 6 of folding wings supporter 10, last erecting frame 6J3 by strut bar terminal pad 6J connects the first strut bar 6A and the second strut bar 6B, and the following erecting frame 6J4 by strut bar terminal pad 6J connects the 3rd strut bar 6C and the 4th strut bar 6D.
Shown in Fig. 6, Fig. 6 A, Fig. 6 B, Fig. 6 C, left wing's driven unit 8 includes left-hand rotation arm 8A, upper left axle sleeve 8B, lower-left axle sleeve 8C, left self-locking body 8D, left rotary shaft 8E, left deep groove ball bearing 8F, left pressurized strut connecting rod 8G, left limit piece 8H and left limit post 8J; Wherein, upper left axle sleeve 8B is identical with the structure of lower-left axle sleeve 8C.
Left-hand rotation arm 8A is provided with the left first hold-down arm 8A1, the left second hold-down arm 8A2, left supporter 8A3; The described left first hold-down arm 8A1 is provided with GA through hole 8A12, GB through hole 8A13, GE through hole 8A11; GA through hole 8A12 is used to place the end of the second carbon fiber bar 4G, and an end of inserting the second carbon fiber bar 4G in the GA through hole 8A12 is realized being connected by place pin (structure of the structure of pin such as left pressurized strut connecting rod 8G) in GB through hole 8A13 and GE through hole 8A11; The described left second hold-down arm 8A2 is provided with GC through hole 8A22, GD through hole 8A23, GF through hole 8A21; GC through hole 8A22 is used to place the end of the first carbon fiber bar 4F, and an end of inserting the first carbon fiber bar 4F in the GC through hole 8A22 is realized being connected by place pin (structure of the structure of pin such as left pressurized strut connecting rod 8G) in GD through hole 8A23 and GF through hole 8A21;
That wherein, place among the GD through hole 8A23 is left pressurized strut connecting rod 8G.The end of left side pressurized strut connecting rod 8G pass in turn the through hole on the coupling end of (from top to bottom) first pressurized strut 111, the left second hold-down arm 8A2 GD through hole 8A23, the through hole on the first carbon fiber bar 4F, with the coupling end of the through hole of described GD through hole 8A23 symmetry and second pressurized strut 112 on through hole; realize left wing component 4 is installed on left wing's driven unit 8 by left pressurized strut connecting rod 8G, under the propulsive effort that gathering expansion transition components 11 provides, realize the gathering of left wing or launch motion.
In the present invention, pin is identical with left pressurized strut connecting rod 8G with the first carbon fiber bar 4F, being connected of left-hand rotation arm 8A with the connection of carbon fiber bar, left-hand rotation arm 8A.
The top of left side supporter 8A3 is provided with embossed card tooth 8A31, the below of left side supporter 8A3 is provided with down embossed card tooth 8A32, described following embossed card tooth 8B2 engagement of going up on embossed card tooth 8A31 and the upper left axle sleeve 8B, the last embossed card tooth 8C2 engagement on described embossed card tooth 8A32 down and the lower-left axle sleeve 8C;
The center of left-hand rotation arm 8A is provided with left bearing chamber 8A4, and described left bearing chamber 8A4 is used to place left deep groove ball bearing 8F, and left deep groove ball bearing 8F is socketed on the bearing section 8E1 of left rotary shaft 8E.
The center of upper left axle sleeve 8B is left axis hole 8B3, the upper end that this left side axis hole 8B3 is used to place left rotary shaft 8E.The end of upper left axle sleeve 8B is disk 8B1, and this disk 8B1 is provided with the 8B11 of spacing hole, launches self-locking blind hole 8B12, draws self-locking blind hole 8B13 in; The other end of upper left axle sleeve 8B is following embossed card tooth 8B2, the last embossed card tooth 8A31 engagement of this time embossed card tooth 8B2 and left-hand rotation arm 8A.
The end of the described 8B11 of spacing hole is for launching positive stop end 8B11a, and the other end of the described 8B11 of spacing hole is for drawing positive stop end 8B11b in; The described 8B11 of spacing hole is used to place left limit post 8J, this left limit post 8J slides in the 8B11 of spacing hole, when left limit post 8J slides into expansion positive stop end 8B11a, left wing component 4 arrives the end position that launches, left lock shaft 8D1 was inserted into and launched among the self-locking blind hole 8B12 this moment, by the expanded position of left lock shaft 8D1 locking left wing component 4; When left limit post 8J slid into gathering positive stop end 8B11b, left wing component 4 arrived the end position that draws in, and left lock shaft 8D1 was inserted into and drew among the self-locking blind hole 8B13 this moment, locked the curling position of left wing component 4 by left lock shaft 8D1.
The center of lower-left axle sleeve 8C is left axis hole 8C3, the lower end that this left side axis hole 8C3 is used to place left rotary shaft 8E.The end of lower-left axle sleeve 8C is disk 8C1; The other end of lower-left axle sleeve 8C is last embossed card tooth 8C2, the following embossed card tooth 8A32 engagement of embossed card tooth 8C2 and left-hand rotation arm 8A on this.
Left side self-locking body 8D includes left lock shaft 8D1, left lock shaft pin 8D2 and left from lock tube 8D3; Described left lock shaft 8D1 is provided with GH through hole 8D11, and this GH through hole 8D11 is used for left lock shaft pin 8D2 and passes; A described left side is provided with chute 8D31 from the column 8D33 of lock tube 8D3, and this chute 8D31 is used for left lock shaft pin 8D2 and slides, and the end end of column 8D33 is base plate 8D32, and this base plate 8D32 is installed in the AF through hole 10A4 place of upper backup pad 10A, and passes through screw retention.
In the present invention, being assembled into of left wing's driven unit 8: left deep groove ball bearing 8F is socketed on the bearing section 8E1 of left rotary shaft 8E, left side deep groove ball bearing 8F is installed in the left bearing chamber 8A4 of left-hand rotation arm 8A, the upper end of left rotary shaft 8E is installed among the left axis hole 8B3 of Upper shaft sleeve 8B, the lower end of left rotary shaft 8E is installed among the left axis hole 8C3 of Lower shaft sleeve 8C, the last embossed card tooth 8A31 engagement of the following embossed card tooth 8B2 of Upper shaft sleeve 8B and left-hand rotation arm 8A, the following embossed card tooth 8A32 engagement of the last embossed card tooth 8C2 of Lower shaft sleeve 8C and left-hand rotation arm 8A, left limit post 8J is installed among the GI through hole 8H1 of left limit piece 8H after passing the 8B12 of spacing hole of Upper shaft sleeve 8B, left limit piece 8H is installed in the bottom of upper backup pad 10A, a left side is installed in the top of upper backup pad 10A from the base plate 8D32 of lock tube 8D3, left side lock shaft 8D1 is installed in the inside of a left side from lock tube 8D3, and the end of left lock shaft 8D1 is installed in the GG through hole 8B11 of Upper shaft sleeve 8B, and the end of left lock shaft pin 8D2 passes chute 8D31 and GH through hole 8D11.
Design-calculated of the present invention left wing driven unit 8; provide the movement relation under the drive source condition to be in first pressurized strut 111, second pressurized strut 112 of drawing expansion transition components 11 in: the push rod of first pressurized strut 111, second pressurized strut 112 promotes a left side second hold-down arm 8A2 motion of left-hand rotation arm 8A by left pressurized strut pipe link 8G; the motion of a left side second hold-down arm 8A2 drives left-hand rotation arm 8A around left rotary shaft 8E rotation (outside rotary expansion wing; inwardly wing is drawn in rotation in; sense of motion by the pressurized strut push rod is determined), realize the gathering and the expansion of the left folding wing.
The left self-locking shaft 8D1 of left self-locking body 8D in the design-calculated of the present invention left wing driven unit 8, movement relation under the dynamic condition that left self-locking steering wheel 8K provides is: the rotation of left-hand rotation arm 8A drives upper left axle sleeve 8B and rotates (the two is by the slide calliper rule clamping), when upper left axle sleeve 8B turns to end position (being determined by left limit post 8J and the 8B12 of spacing hole), left side self-locking steering wheel 8K rotates (when left wing's driven unit work, the upwards swing of swing arm 8K1 of left side self-locking steering wheel 8K, left side lock shaft 8D1 is positioned at GG through hole 8B11 outside), drive its swing arm 8K1 to lower swing, the swing of swing arm 8K1 transmits motion to left lock shaft 8D1 by left lock shaft pin 8D2, left lock shaft 8D1 is moved downward, enter (two holes lock gathering respectively and launch two positions) in the GG through hole 8B11, limiting upper left axle sleeve 8B rotates, thereby restriction left-hand rotation arm 8A rotates, and realizes its self-locking.
Shown in Fig. 7, Fig. 7 A, Fig. 7 B, Fig. 7 C, right flank driven unit 9 and left wing's driven unit 8 are to be symmetrically arranged with the fuselage central axis, and the structure of right flank driven unit 9 and left wing driven unit 8 is identical.Right flank driven unit 9 includes right-hand rotation arm 9A, upper right axle sleeve 9B, bottom right axle sleeve 9C, right self-locking body 9D, right spindle 9E, right deep groove ball bearing 9F, right pressurized strut connecting rod 9G, right limit piece 9H and right limit post 9J; Wherein, upper right axle sleeve 9B is identical with the structure of bottom right axle sleeve 9C.
Right-hand rotation arm 9A is provided with the right first hold-down arm 9A1, the right second hold-down arm 9A2, right supporter 9A3; The described right first hold-down arm 9A1 is provided with GGA through hole 9A12, GGB through hole 9A13, GGE through hole 9A11; GGA through hole 9A12 is used to place the end of the 4th carbon fiber bar 5G, and an end of inserting the 4th carbon fiber bar 5G in the GGA through hole 9A12 is realized being connected by place pin (structure of the structure of pin such as right pressurized strut connecting rod 9G) in GGB through hole 9A13 and GGE through hole 9A11; The described right second hold-down arm 9A2 is provided with GGC through hole 9A22, GGD through hole 9A23, GGF through hole 9A21; GGC through hole 9A22 is used to place the end of the 3rd carbon fiber bar 5F, and an end of inserting the 3rd carbon fiber bar 5F in the GGC through hole 9A22 is realized being connected by place pin (structure of the structure of pin such as right pressurized strut connecting rod 9G) in GGD through hole 9A23 and GGF through hole 9A21;
That wherein, place among the GGD through hole 9A23 is right pressurized strut connecting rod 9G.The end of right pressurized strut connecting rod 9G pass in turn the through hole on the coupling end of (from top to bottom) the 3rd pressurized strut 113, the right second hold-down arm 9A2 GGD through hole 9A23, the through hole on the 3rd carbon fiber bar 5F, with the coupling end of the through hole of described GGD through hole 9A23 symmetry and the 4th pressurized strut 114 on through hole; realize right flank assembly 5 is installed on the right flank driven unit 9 by right pressurized strut connecting rod 9G, under the propulsive effort that gathering expansion transition components 11 provides, realize the gathering of right flank or launch motion.
In the present invention, pin is identical with right pressurized strut connecting rod 9G with the first carbon fiber bar 4F, being connected of right-hand rotation arm 9A with the connection of carbon fiber bar, right-hand rotation arm 9A.
The top of right supporter 9A3 is provided with embossed card tooth 9A31, the below of right supporter 9A3 is provided with down embossed card tooth 9A32, described following embossed card tooth 9B2 engagement of going up on embossed card tooth 9A31 and the upper right axle sleeve 9B, the last embossed card tooth 9C2 engagement on described embossed card tooth 9A32 down and the bottom right axle sleeve 9C;
The center of right-hand rotation arm 9A is provided with right bearing chamber 9A4, and described right bearing chamber 9A4 is used to place right deep groove ball bearing 9F, and right deep groove ball bearing 9F is socketed on the bearing section 9E1 of right spindle 9E.
The center of upper right axle sleeve 9B is right axis hole 9B3, the upper end that this right side axis hole 9B3 is used to place right spindle 9E.The end of upper right axle sleeve 9B is disk 9B1, and this disk 9B1 is provided with the 9B11 of spacing hole, launches self-locking blind hole 9B12, draws self-locking blind hole 9B13 in; The other end of upper right axle sleeve 9B is following embossed card tooth 9B2, the last embossed card tooth 9A31 engagement of this time embossed card tooth 9B2 and right-hand rotation arm 9A.
The end of the described 9B11 of spacing hole is for launching positive stop end 9B11a, and the other end of the described 9B11 of spacing hole is for drawing positive stop end 9B11b in; The described 9B11 of spacing hole is used to place right limit post 9J, this right limit post 9J slides in the 9B11 of spacing hole, when right limit post 9J slides into expansion positive stop end 9B11a, right flank assembly 5 arrives the end position that launches, right lock shaft 9D1 was inserted into and launched among the self-locking blind hole 9B12 this moment, by the expanded position of right lock shaft 9D1 locking right flank assembly 5; When right limit post 9J slid into gathering positive stop end 9B11b, right flank assembly 5 arrived the end position that draws in, and right lock shaft 9D1 was inserted into and drew among the self-locking blind hole 9B13 this moment, locked the curling position of right flank assembly 5 by right lock shaft 9D1.
The center of bottom right axle sleeve 9C is right axis hole 9C3, the lower end that this right side axis hole 9C3 is used to place right spindle 9E; The end of bottom right axle sleeve 9C is disk 9C1; The other end of bottom right axle sleeve 9C is last embossed card tooth 9C2, the following embossed card tooth 9A32 engagement of embossed card tooth 9C2 and right-hand rotation arm 9A on this.
In the present invention, upper left axle sleeve 8B, lower-left axle sleeve 8C, upper right axle sleeve 9B are identical with bottom right axle sleeve 9C structure, and these four parts are that gauge member is used.Part processing is convenient, and cost-cutting.
Right self-locking body 9D includes right lock shaft 9D1, right lock shaft pin 9D2 and right from lock tube 9D3; Described right lock shaft 9D1 is provided with GGH through hole 9D11, and this GGH through hole 9D11 is used for right lock shaft pin 9D2 and passes; The described right side is provided with chute 9D31 from the column 9D33 of lock tube 9D3, and this chute 9D31 is used for right lock shaft pin 9D2 and slides, and the end end of column 9D33 is base plate 9D32, and this base plate 9D32 is installed in the AE through hole 10B3 place of upper backup pad 10A, and passes through screw retention.
In the present invention, being assembled into of right flank driven unit 9: right deep groove ball bearing 9F is socketed on the bearing section 9E1 of right spindle 9E, right deep groove ball bearing 9F is installed in the right bearing chamber 9A4 of right-hand rotation arm 9A, the upper end of right spindle 9E is installed among the right axis hole 9B3 of Upper shaft sleeve 9B, the lower end of right spindle 9E is installed among the right axis hole 9C3 of Lower shaft sleeve 9C, the last embossed card tooth 9A31 engagement of the following embossed card tooth 9B2 of Upper shaft sleeve 9B and right-hand rotation arm 9A, the following embossed card tooth 9A32 engagement of the last embossed card tooth 9C2 of Lower shaft sleeve 9C and right-hand rotation arm 9A, right limit post 9J is installed among the GGI through hole 9H1 of right limit piece 9H after passing the 9B12 of spacing hole of Upper shaft sleeve 9B, right limit piece 9H is installed in the bottom of upper backup pad 10A, the right top that is installed in upper backup pad 10A from the base plate 9D32 of lock tube 9D3, right lock shaft 9D1 is installed in right inside from lock tube 9D3, and the end of right lock shaft 9D1 is installed in the GGG through hole 9B11 of Upper shaft sleeve 9B, and the end of right lock shaft pin 9D2 passes chute 9D31 and GGH through hole 9D11.
Design-calculated right flank driven unit 9 of the present invention; provide the movement relation under the drive source condition to be in the 3rd pressurized strut 113, the 4th pressurized strut 114 of drawing expansion transition components 11 in: the push rod of the 3rd pressurized strut 113, the 4th pressurized strut 114 promotes the right side second hold-down arm 9A2 motion of right-hand rotation arm 9A by right pressurized strut pipe link 9G; the motion of the right second hold-down arm 9A2 drives right-hand rotation arm 9A around right spindle 9E rotation (outside rotary expansion wing; inwardly wing is drawn in rotation in; sense of motion by the pressurized strut push rod is determined), realize the gathering and the expansion of the right folding wing.
The right self-locking shaft 9D1 of right self-locking body 9D in the design-calculated right flank driven unit 9 of the present invention, movement relation under the dynamic condition that right self-locking steering wheel 9K provides is: the rotation of right-hand rotation arm 9A drives upper right axle sleeve 9B and rotates (the two is by the slide calliper rule clamping), when Upper shaft sleeve turns to end position (being determined by right limit post 9J and the 9B12 of spacing hole), right self-locking steering wheel 9K rotates (when right driven unit is worked, upwards swing of right self-locking steering wheel 9K swing arm, right lock shaft 9D1 is positioned at GG through hole 9B11 outside), drive its swing arm 9K1 to lower swing, the swing of swing arm 9K1 transmits motion to right lock shaft 9D1 by right lock shaft pin 9D2, right lock shaft 9D1 is moved downward, enter in the GG through hole 9B11 (two holes self-locking are respectively drawn in and launched two positions), limiting upper right axle sleeve 9B rotates, thereby restriction right-hand rotation arm 9A rotates, and realizes its self-locking.
Referring to Fig. 3 A and shown in Figure 5, draw expansion transition components 11 in and include high-pressure gas bottle 11G, first pressurized strut 111, second pressurized strut 112, the 3rd pressurized strut 113, the 4th pressurized strut 114, the first change-over valve 11C, the second change-over valve 11D, commutation steering wheel 11A, a Y shape flexible pipe 11H, the 2nd Y shape flexible pipe 11J, the 3rd Y shape flexible pipe 11K, the 4th Y shape flexible pipe 11L and the 5th Y shape flexible pipe 11M.
Wherein, a Y shape flexible pipe 11H, the 2nd Y shape flexible pipe 11J, the 3rd Y shape flexible pipe 11K, the 4th Y shape flexible pipe 11L are identical with the structure of the 5th Y shape flexible pipe 11M.Wherein, first pressurized strut 111, second pressurized strut 112, the 3rd pressurized strut 113 are identical with the structure of the 4th pressurized strut 114.
Shown in Fig. 3 A, Fig. 5 B, Fig. 5 D, first pressurized strut 111 is welded on the 4th support post 10F of folding wings supporter 10, the CA air guide port 111a of first pressurized strut 111 is connected with the DB interface 11L2 of the 4th Y shape flexible pipe 11L, and the CB air guide port 111b of first pressurized strut 111 is connected with the BB interface 11J2 of the 2nd Y shape flexible pipe 11J.The push rod of first pressurized strut 111 is connected the upper end of the left pressurized strut connecting rod 8G of left wing's driven unit 8.
Shown in Fig. 3 A, Fig. 5 B, Fig. 5 D, second pressurized strut 112 is welded on the 4th support post 10F of folding wings supporter 10, the DA air guide port 112a of second pressurized strut 112 is connected with the DC interface 11L3 of the 4th Y shape flexible pipe 11L, and the DB air guide port 112b of second pressurized strut 112 is connected with the BC interface 11J3 of the 2nd Y shape flexible pipe 11J.The push rod of second pressurized strut 112 is connected the lower end of the left pressurized strut connecting rod 8G of left wing's driven unit 8.
Shown in Fig. 3 A, Fig. 5 C, Fig. 5 E, the 3rd pressurized strut 113 is welded on the 3rd support post 10E of folding wings supporter 10, the EA air guide port 113a of the 3rd pressurized strut 113 is connected with the EB interface 11M2 of the 5th Y shape flexible pipe 11M, and the EB air guide port 113b of the 3rd pressurized strut 113 is connected with the CB interface 11K2 of the 3rd Y shape flexible pipe 11K.The push rod of the 3rd pressurized strut 113 is connected the upper end of the right pressurized strut connecting rod 9G of right flank driven unit 9.
Shown in Fig. 3 A, Fig. 5 C, Fig. 5 E, the 4th pressurized strut 114 is welded on the 3rd support post 10E of folding wings supporter 10, the FA air guide port 114a of the 4th pressurized strut 114 is connected with the EC interface 11M3 of the 5th Y shape flexible pipe 11M, and the FB air guide port 114b of the 4th pressurized strut 114 is connected with the CC interface 11K3 of the 3rd Y shape flexible pipe 11K.The push rod of the 4th pressurized strut 114 is connected the upper end of the right pressurized strut connecting rod 9G of right flank driven unit 9.
Shown in Figure 1A, Fig. 5, Fig. 5 A, change-over valve includes the first change-over valve 11C and the second change-over valve 11D; The first change-over valve 11C and the second change-over valve 11D are installed in parallel on the side plate of adapter plate 11E, and another side plate of adapter plate 11E is fixed on the 3rd adapter plate 6G of the assembly 6 of setting a roof beam in place.
Be connected with second connecting rod 11F between the push rod of the push rod of the first change-over valve 11C and the second change-over valve 11D, the end of first connecting rod 11B is connected on the second connecting rod 11F, and the other end of first connecting rod 11B is connected on the rocking arm 11A1 of commutation steering wheel 11A.Cw/anti-clockwise the swing of rocking arm 11A1 by commutation steering wheel 11A makes first connecting rod 11B, second connecting rod 11F transmission, thus commutation when realizing two change-over valves.
The first change-over valve 11C is provided with AA air guide port 11C1, AB air guide port 11C2, AC air guide port 11C3.
The second change-over valve 11D is provided with BA air guide port 11D1, BB air guide port 11D2, BC air guide port 11D3.
In the present invention, change-over valve is selected three two logical scavenge valves of Robart series for use.When change-over valve was in off working state, valve body was in the state of holding one's breath, and induction opening and two deflation holes are all isolated, and when the commutation steering wheel drives the air valve push rod and moves by first connecting rod, second connecting rod, corresponding deflation hole was communicated with induction opening, finished corresponding actions.
Referring to shown in Figure 5, the axis of the output shaft of commutation steering wheel 11A is designated as 11A2, and rocking arm 11A1 makes clockwise direction around axis 11A2 and rotates, and is designated as the rise of first connecting rod 11B; rocking arm 11A1 makes anticlockwise motion around axis 11A2, is designated as the journey of drawing of first connecting rod 11B.
When the rocking arm 11A1 of commutation steering wheel 11A is in initial bit, the first change-over valve 11C and the second change-over valve 11D are the state of holding one's breath, the AA air guide port 11C1 of the first change-over valve 11C and AB air guide port 11C2 and not conductings of AC air guide port 11C3, the BA air guide port 11D1 of the second change-over valve 11D and BB air guide port 11D2 and not conductings of BC air guide port 11D3.
The rocking arm 11A1 counter-clockwise swing of commutation steering wheel 11A, by first connecting rod 11B, second connecting rod 11F the push rod of the first change-over valve 11C, the push rod of the second change-over valve 11D are pulled to the journey terminal point, at this moment, the AA air guide port 11C1 of the first change-over valve 11C and AC air guide port 11C3 conducting, and AA air guide port 11C1 is by the gas cylinder air guide port 11G1 conducting of a Y shape flexible pipe 11H and gas cylinder 11G, and AC air guide port 11C3 is by the 4th Y shape flexible pipe 11L and the CA air guide port 111a of first pressurized strut 111 and the DA air guide port 112a conducting of second pressurized strut 112.Thereby the high pressure gas among the high-pressure gas bottle 11G are imported in first pressurized strut 111 and second pressurized strut 112, cause the push rod of first pressurized strut 111 and the push rod of second pressurized strut 112 to retract; In like manner can get, the BA air guide port 11D1 of the second change-over valve 11D and BC air guide port 11D3 conducting, and BA air guide port 11D1 is by the gas cylinder air guide port 11G1 conducting of a Y shape flexible pipe 11H and gas cylinder 11G, and BC air guide port 11D3 is by the 5th Y shape flexible pipe 11M and the EA air guide port 113a of the 3rd pressurized strut 113 and the FA air guide port 114a conducting of the 4th pressurized strut 114.Thereby the high pressure gas among the high-pressure gas bottle 11G are imported in the 3rd pressurized strut 113 and the 4th pressurized strut 114, cause the push rod of the 3rd pressurized strut 113 and the push rod of the 4th pressurized strut 114 to retract.
The rocking arm 11A1 cw swing of commutation steering wheel 11A, by first connecting rod 11B, second connecting rod 11F the push rod of the first change-over valve 11C, the push rod of the second change-over valve 11D are pushed into the rise terminal point, at this moment, the AA air guide port 11C1 of the first change-over valve 11C and AB air guide port 11C2 conducting, and AA air guide port 11C1 is by the gas cylinder air guide port 11G1 conducting of a Y shape flexible pipe 11H and gas cylinder 11G, and AB air guide port 11C2 is by the 2nd Y shape flexible pipe 11J and the CB air guide port 111b of first pressurized strut 111 and the DB air guide port 112b conducting of second pressurized strut 112.Thereby the high pressure gas among the high-pressure gas bottle 11G are imported in first pressurized strut 111 and second pressurized strut 112, cause the push rod of first pressurized strut 111 and the push rod of second pressurized strut 112 to be released; In like manner can get, the BA air guide port 11D1 of the second change-over valve 11D and BB air guide port 11D2 conducting, and BA air guide port 11D1 is by the gas cylinder air guide port 11G1 conducting of a Y shape flexible pipe 11H and gas cylinder 11G, and BB air guide port 11D2 is by the 3rd Y shape flexible pipe 11K and the EB air guide port 113b of the 3rd pressurized strut 113 and the FB air guide port 114b conducting of the 4th pressurized strut 114.Thereby the high pressure gas among the high-pressure gas bottle 11G are imported in the 3rd pressurized strut 113 and the 4th pressurized strut 114, cause the push rod of the 3rd pressurized strut 113 and the push rod of the 4th pressurized strut 114 to be released.
Shown in Fig. 5 A, a Y shape flexible pipe 11H is provided with AA interface 11H1, AB interface 11H2, AC interface 11H3; Described AA interface 11H1 is connected with the gas cylinder exhausr port 11G1 of high-pressure gas bottle 11G; Described AB interface 11H2 is connected with the AA air guide port 11C1 of the first change-over valve 11C; Described AC interface 11H3 is connected with the BA air guide port 11D1 of the second change-over valve 11D.
Shown in Fig. 5 B, the 2nd Y shape flexible pipe 11J is provided with BA interface 11J1, BB interface 11J2, BC interface 11J3; Described BA interface 11J1 is connected with the AB air guide port 11C2 of the first change-over valve 11C; Described BB interface 11J2 is connected with the CB air guide port 111b of first pressurized strut 111; Described BC interface 11J3 is connected with the DA air guide port 112b of second pressurized strut 112.
Shown in Fig. 5 C, the 3rd Y shape flexible pipe 11K is provided with CA interface 11K1, CB interface 11K2, CC interface 11K3; Described CA interface 11K1 is connected with the BB air guide port 11D2 of the second change-over valve 11D; Described CB interface 11K2 is connected with the EB air guide port 113b of the 3rd pressurized strut 113; Described CC interface 11K3 is connected with the FB air guide port 114b of the 4th pressurized strut 114.
Shown in Fig. 5 D, the 4th Y shape flexible pipe 11L is provided with DA interface 11L1, DB interface 11L2, DC interface 11L3; Described DA interface 11L1 is connected with the AC air guide port 11C3 of the first change-over valve 11C; Described DB interface 11L2 is connected with the CA air guide port 111a of first pressurized strut 111; Described DC interface 11L3 is connected with the DA air guide port 112a of second pressurized strut 112.
Shown in Fig. 5 E, the 5th Y shape flexible pipe 11M is provided with EA interface 11M1, EB interface 11M2, EC interface 11M3; Described EA interface 11M1 is connected with the BC air guide port 11D3 of the second change-over valve 11D; Described EB interface 11M2 is connected with the EA air guide port 113a of the 3rd pressurized strut 113; Described EC interface 11M3 is connected with the FA air guide port 114a of the 4th pressurized strut 114.
Design-calculated of the present invention draws in and launches transition components 11, and the movement relation under the dynamic condition that commutation steering wheel 11A provides is as follows:
When the first change-over valve 11C and the second change-over valve 11D are in initial condition, be that valve body is in the state of holding one's breath, at this moment, the AA air guide port 11C1 of the first change-over valve 11C and AB air guide port 11C2 and not conductings of AC air guide port 11C3, the BA air guide port 11D1 of the second change-over valve 11D and BB air guide port 11D2 and not conductings of BC air guide port 11D3, the swing arm 11A1 of the steering wheel 11A that then commutates is in initial position.
When commutation steering wheel 11A rotates (cw or conter clockwise), drive rocking arm 11A1 swing (rise or draw journey); the swing of rocking arm 11A1 drives first connecting rod 11B motion; the motion of first connecting rod 11B drives second connecting rod 11F and moves; the push rod of second connecting rod 11F and the first change-over valve 11C and the second change-over valve 11D is connected, in valve body, move and realize commutating thereby drive push rod.
Design-calculated gathering expansion transition components 11 of the present invention, left wing's driven unit 8, the mode of operation of right flank driven unit 9 when gathering that realizes wing and expansion are:
The expansion of folding wings and the conversion of gathering are to realize by the air flow line of commutation steering wheel 11A two change-over valves of control (the first change-over valve 11C and the second change-over valve 11D), high pressure gas among the gas cylinder 10G (10 barometric pressures) are transferred in the air cavity of four pressurized struts (first pressurized strut 111, second pressurized strut 112, the 3rd pressurized strut 113, the 4th pressurized strut 114), the push rod of four pressurized struts is moved, the expansion of realization wing and gathering action.
(1) working process of wing expansion:
The rocking arm 11A1 cw swing of commutation steering wheel 11A makes the push rod of change-over valve be pushed into the rise terminal point, and the high pressure gas first aspect in the high-pressure gas bottle enters first pressurized strut 111 through gas cylinder air guide port 11G1, AA air guide port 11C1, AB air guide port 11C2, CB air guide port 111b in turn at this moment; Second aspect enters second pressurized strut 112 through gas cylinder air guide port 11G1, AA air guide port 11C1, AB air guide port 11C2, DB air guide port 112b in turn; The third aspect enters the 3rd pressurized strut 113 through gas cylinder air guide port 11G1, BA air guide port 11D1, BB air guide port 11D2, EB air guide port 113b in turn; Fourth aspect enters the 4th pressurized strut 114 through gas cylinder air guide port 11G1, BA air guide port 11D1, BB air guide port 11D2, FB air guide port 114b in turn; High pressure gas enter rapidly in the air cavity of four pressurized struts, the push rod of pressurized strut is released, so just the translational motion of push rod is converted to the rotational motion of left and right sides pivoted arm, this kind situation left and right sides pivoted arm is to inner rotary, wing is launched, and the wing of expansion reaches (limited post arrives and launches positive stop end) when launching end position, by the self-locking steering wheel lock shaft is inserted and launches in the self-locking blind hole, pivoted arm is carried out self-locking fix, preventing in the unmanned plane during flying process that folding angle changes influences airworthiness.
(2) working process of wing gathering:
The rocking arm 11A1 counter-clockwise swing of commutation steering wheel 11A makes the push rod of change-over valve be pulled to the journey terminal point, and the high pressure gas first aspect in the high-pressure gas bottle enters first pressurized strut 111 through gas cylinder air guide port 11G1, AA air guide port 11C1, AC air guide port 11C3, CA air guide port 111a in turn at this moment; Second aspect enters second pressurized strut 112 through gas cylinder air guide port 11G1, AA air guide port 11C1, AC air guide port 11C3, DA air guide port 112a in turn; The third aspect enters the 3rd pressurized strut 113 through gas cylinder air guide port 11G1, BA air guide port 11D1, BC air guide port 11D3, EA air guide port 113a in turn; Fourth aspect enters the 4th pressurized strut 114 through gas cylinder air guide port 11G1, BA air guide port 11D1, BC air guide port 11D3, FA air guide port 114a in turn; High pressure gas enter rapidly in the air cavity of four pressurized struts, the push rod of pressurized strut is retracted, so just the translational motion of push rod is converted to the rotational motion of left and right sides pivoted arm, this kind situation left and right sides pivoted arm inwardly rotates, wing is drawn in, the wing that draws in reaches (limited post arrives and draws positive stop end in) when drawing end position in, by the self-locking steering wheel lock shaft being inserted draws in the self-locking blind hole, pivoted arm is carried out self-locking fix, preventing in the unmanned plane navigation process under water that folding angle changes influences the submarine navigation performance.
Claims (8)
1. pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait is characterized in that: the pneumatic type folding device that becomes wing setting includes folding wings supporter (10), left wing's driven unit (8), right flank driven unit (9) and draws expansion transition components (11) in;
Folding wings supporter (10) includes upper support transverse slat (10A), lower support transverse slat (10B), first support post (10C), second support post (10D), the 3rd support post (10E), the 4th support post (10F), the 5th support post (10G), the 6th support post (10H), the 7th support post (10I), the 8th support post (10J); Wherein, the 5th support post (10G), the 6th support post (10H), the 7th support post (10I) are identical with the structure of the 8th support post (10J), and are the quadrangle layout between upper support transverse slat (10A) and lower support transverse slat (10B); Wherein, first support post (10C), second support post (10D), the 3rd support post (10E) are identical with the structure of the 4th support post (10F), and are the quadrangle layout between upper support transverse slat (10A) and lower support transverse slat (10B);
Left wing's driven unit (8) includes left-hand rotation arm (8A), upper left axle sleeve (8B), lower-left axle sleeve (8C), left self-locking body (8D), left rotary shaft (8E), left deep groove ball bearing (8F), left pressurized strut connecting rod (8G), left limit piece (8H) and left limit post (8J); Left side deep groove ball bearing (8F) is socketed on the bearing section (8E1) of left rotary shaft (8E), left side deep groove ball bearing (8F) is installed in the left bearing chamber (8A4) of left-hand rotation arm (8A), the upper end of left rotary shaft (8E) is installed in the left axis hole (8B3) of Upper shaft sleeve (8B), the lower end of left rotary shaft (8E) is installed in the left axis hole (8C3) of Lower shaft sleeve (8C), the following embossed card tooth (8B2) of Upper shaft sleeve (8B) and the engagement of the last embossed card tooth (8A31) of left-hand rotation arm (8A), the last embossed card tooth (8C2) of Lower shaft sleeve (8C) and the engagement of the following embossed card tooth (8A32) of left-hand rotation arm (8A), left limit post (8J) is installed in the GI through hole (8H1) of left limit piece (8H) after passing the spacing hole (8B12) of Upper shaft sleeve (8B), left limit piece (8H) is installed in the bottom of upper backup pad (10A), a left side is installed in the top of upper backup pad (10A) from the base plate (8D32) of lock tube (8D3), left side lock shaft (8D1) is installed in the inside of a left side from lock tube (8D3), and an end of left lock shaft (8D1) is installed in the GG through hole (8B11) of Upper shaft sleeve (8B), and an end of left lock shaft pin (8D2) passes chute (8D31) and GH through hole (8D11);
Right flank driven unit (9) includes right-hand rotation arm (9A), upper right axle sleeve (9B), bottom right axle sleeve (9C), right self-locking body (9D), right spindle (9E), right deep groove ball bearing (9F), right pressurized strut connecting rod (9G), right limit piece 9H and right limit post (9J); Right deep groove ball bearing (9F) is socketed on the bearing section (9E1) of right spindle (9E), right deep groove ball bearing (9F) is installed in the right bearing chamber (9A4) of right-hand rotation arm (9A), the upper end of right spindle (9E) is installed in the right axis hole (9B3) of Upper shaft sleeve (9B), the lower end of right spindle (9E) is installed in the right axis hole (9C3) of Lower shaft sleeve (9C), the following embossed card tooth (9B2) of Upper shaft sleeve (9B) and the engagement of the last embossed card tooth (9A31) of right-hand rotation arm (9A), the last embossed card tooth (9C2) of Lower shaft sleeve (9C) and the engagement of the following embossed card tooth (9A32) of right-hand rotation arm (9A), right limit post (9J) is installed in the GGI through hole (9H1) of right limit piece (9H) after passing the spacing hole (9B12) of Upper shaft sleeve (9B), right limit piece (9H) is installed in the bottom of upper backup pad (10A), the right top that is installed in upper backup pad (10A) from the base plate (9D32) of lock tube (9D3), right lock shaft (9D1) is installed in right inside from lock tube (9D3), and an end of right lock shaft (9D1) is installed in the GGG through hole (9B11) of Upper shaft sleeve (9B), and an end of right lock shaft pin (9D2) passes chute (9D31) and GGH through hole (9D11);
Draw expansion transition components (11) in and include high-pressure gas bottle (11G), first pressurized strut (111), second pressurized strut (112), the 3rd pressurized strut (113), the 4th pressurized strut (114), first change-over valve (11C), second change-over valve (11D), commutation steering wheel (11A), a Y shape flexible pipe (11H), the 2nd Y shape flexible pipe (11J), the 3rd Y shape flexible pipe (11K), the 4th Y shape flexible pipe (11L) and the 5th Y shape flexible pipe (11M);
The one Y shape flexible pipe (11H) is provided with AA interface (11H1), AB interface (11H2), AC interface (11H3); Described AA interface (11H1) is connected with the gas cylinder exhausr port (11G1) of high-pressure gas bottle (11G); Described AB interface (11H2) is connected with the AA air guide port (11C1) of first change-over valve (11C); Described AC interface (11H3) is connected with the BA air guide port (11D1) of second change-over valve (11D); The 2nd Y shape flexible pipe (11J) is provided with BA interface (11J1), BB interface (11J2), BC interface (11J3); Described BA interface (11J1) is connected with the AB air guide port (11C2) of first change-over valve (11C); Described BB interface (11J2) is connected with the CB air guide port (111b) of first pressurized strut (111); Described BC interface (11J3) is connected with the DA air guide port (112b) of second pressurized strut (112); The 3rd Y shape flexible pipe (11K) is provided with CA interface (11K1), CB interface (11K2), CC interface (11K3); Described CA interface (11K1) is connected with the BB air guide port (11D2) of second change-over valve (11D); Described CB interface (11K2) is connected with the EB air guide port (113b) of the 3rd pressurized strut (113); Described CC interface (11K3) is connected with the FB air guide port (114b) of the 4th pressurized strut (114); The 4th Y shape flexible pipe (11L) is provided with DA interface (11L1), DB interface (11L2), DC interface (11L3); Described DA interface (11L1) is connected with the AC air guide port (11C3) of first change-over valve (11C); Described DB interface (11L2) is connected with the CA air guide port (111a) of first pressurized strut (111); Described DC interface (11L3) is connected with the DA air guide port (112a) of second pressurized strut (112); The 5th Y shape flexible pipe (11M) is provided with EA interface (11M1), EB interface (11M2), EC interface (11M3); Described EA interface (11M1) is connected with the BC air guide port (11D3) of second change-over valve (11D); Described EB interface (11M2) is connected with the EA air guide port (113a) of the 3rd pressurized strut (113); Described EC interface (11M3) is connected with the FA air guide port (114a) of the 4th pressurized strut (114);
The left end of upper support transverse slat (10A) is provided with AB through hole (10A2), AF through hole (10A4), AH through hole (10A6); The right-hand member of upper support transverse slat (10A) is provided with AA through hole (10A1), AE through hole (10A3), AG through hole (10A5); AB through hole (10A2) is used to place an end of the left rotary shaft (8E) of left wing's driven unit (8), and the other end of left rotary shaft (8E) places in the AD through hole (10B2) of lower support transverse slat (10B); AF through hole (10A4) is used for left lock shaft (8D1) and passes, described left lock shaft (8D1) is installed in a left side in lock tube (8D3) by left lock shaft pin (8D2), and a described left side is installed in from the base plate (8D32) of lock tube (8D3) on the upper face of left end of upper support transverse slat (10A); AH through hole (10A6) is used for left limit post (8J) and passes, and the end of passing the left limit post (8J) of AH through hole (10A6) places the spacing hole (8B12) of upper left axle sleeve (8B); AA through hole (10A1) is used to place an end of the right spindle (9E) of right flank driven unit (9), and the other end of right spindle (9E) places in the AC through hole (10B1) of lower support transverse slat (10B); AE through hole (10A3) is used for right lock shaft (9D1) and passes, described right lock shaft (9D1) is installed in right in lock tube (9D3) by right lock shaft pin (9D2), the described right side is installed in from the base plate (9D32) of lock tube (9D3) on the upper face of right-hand member of upper support transverse slat (10A); AG through hole (10A5) is used for right limit post (9J) and passes, and the end of passing the right limit post (9J) of AH through hole (10A6) places the spacing hole (9B12) of upper right axle sleeve (9B);
The two ends of lower support transverse slat (10B) are provided with AC through hole (10B1) and AD through hole (10B2); Described AC through hole (10B1) is used to place the other end of the left rotary shaft (8E) of left wing's driven unit (8); Described AD through hole (10B2) is used to place the other end of the right spindle (9E) of right flank driven unit (9).
2. a kind of pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait according to claim 1 is characterized in that: left-hand rotation arm (8A) is provided with left first hold-down arm (8A1), left second hold-down arm (8A2), left supporter (8A3);
Described left first hold-down arm (8A1) is provided with GA through hole (8A12), GB through hole (8A13), GE through hole (8A11); GA through hole (8A12) is used to place an end of the second carbon fiber bar (4G), and an end of inserting the second carbon fiber bar (4G) in the GA through hole (8A12) is by being connected with placement pin realization in the GE through hole (8A11) at GB through hole (8A13); Described left second hold-down arm (8A2) is provided with GC through hole (8A22), GD through hole (8A23), GF through hole (8A21); GC through hole (8A22) is used to place an end of the first carbon fiber bar (4F), and an end of inserting the first carbon fiber bar (4F) in the GC through hole (8A22) is by being connected with placement pin realization in the GF through hole (8A21) at GD through hole (8A23); The top of left side supporter (8A3) is provided with embossed card tooth (8A31), the below of left side supporter (8A3) is provided with down embossed card tooth (8A32), described following embossed card tooth (8B2) engagement of going up on embossed card tooth (8A31) and the upper left axle sleeve (8B), last embossed card tooth (8C2) engagement on described embossed card tooth (8A32) down and the lower-left axle sleeve (8C); The center of left-hand rotation arm (8A) is provided with left bearing chamber (8A4), and described left bearing chamber (8A4) is used to place left deep groove ball bearing (8F), and left deep groove ball bearing (8F) is socketed on the bearing section (8E1) of left rotary shaft (8E);
The center of upper left axle sleeve (8B) is left axis hole (8B3), the upper end that this left side axis hole (8B3) is used to place left rotary shaft (8E); One end of upper left axle sleeve (8B) is disk (8B1), and this disk (8B1) is provided with spacing hole (8B11), launches self-locking blind hole (8B12), draws self-locking blind hole (8B13) in; The other end of upper left axle sleeve (8B) is following embossed card tooth (8B2), and this time embossed card tooth (8B2) meshes with the last embossed card tooth (8A31) of left-hand rotation arm (8A);
One end of described spacing hole (8B11) is for launching positive stop end (8B11a), and the other end of described spacing hole (8B11) is for drawing positive stop end (8B11b) in; Described spacing hole (8B11) is used to place left limit post (8J), this left limit post (8J) slides in spacing hole (8B11), when left limit post (8J) slides into expansion positive stop end (8B11a), left wing component (4) arrives the end position that launches, left lock shaft this moment (8D1) is inserted into and launches in the self-locking blind hole (8B12), by the expanded position of left lock shaft (8D1) locking left wing component (4); When left limit post (8J) slides into gathering positive stop end (8B11b), left wing component (4) arrives the end position that draws in, left lock shaft this moment (8D1) is inserted into and draws in the self-locking blind hole (8B13), by the curling position of left lock shaft (8D1) locking left wing component (4);
The center of lower-left axle sleeve (8C) is left axis hole (8C3), the lower end that this left side axis hole (8C3) is used to place left rotary shaft (8E); One end of lower-left axle sleeve (8C) is disk (8C1); The other end of lower-left axle sleeve (8C) is a last embossed card tooth (8C2), and embossed card tooth (8C2) meshes with the following embossed card tooth (8A32) of left-hand rotation arm 8A on this;
Left side self-locking body (8D) includes left lock shaft (8D1), left lock shaft pin (8D2) and a left side from lock tube (8D3); Described left lock shaft (8D1) is provided with GH through hole (8D11), and this GH through hole (8D11) is used for left lock shaft pin (8D2) and passes; A described left side is provided with chute (8D31) from the column (8D33) of lock tube (8D3), this chute (8D31) is used for left lock shaft pin (8D2) and slides, one end end of column (8D33) is base plate (8D32), this base plate (8D32) is installed in the AF through hole (10A4) of upper backup pad (10A) and locates, and passes through screw retention.
3. a kind of pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait according to claim 1 is characterized in that: right-hand rotation arm (9A) is provided with right first hold-down arm (9A1), right second hold-down arm (9A2), right supporter (9A3);
Described right first hold-down arm (9A1) is provided with GGA through hole (9A12), GGB through hole (9A13), GGE through hole (9A11); GGA through hole (9A12) is used to place an end of the 4th carbon fiber bar (5G), and an end of inserting the 4th carbon fiber bar (5G) in the GGA through hole (9A12) is by being connected with placement pin realization in the GGE through hole (9A11) at GGB through hole (9A13); Described right second hold-down arm (9A2) is provided with GGC through hole (9A22), GGD through hole (9A23), GGF through hole (9A21); GGC through hole (9A22) is used to place an end of the 3rd carbon fiber bar (5F), and an end of inserting the 3rd carbon fiber bar (5F) in the GGC through hole (9A22) is by being connected with placement pin realization in the GGF through hole (9A21) at GGD through hole (9A23);
The top of right supporter (9A3) is provided with embossed card tooth (9A31), the below of right supporter (9A3) is provided with down embossed card tooth (9A32), described following embossed card tooth (9B2) engagement of going up on embossed card tooth (9A31) and the upper right axle sleeve (9B), last embossed card tooth (9C2) engagement on described embossed card tooth (9A32) down and the bottom right axle sleeve (9C);
The center of right-hand rotation arm (9A) is provided with right bearing chamber (9A4), and described right bearing chamber (9A4) is used to place right deep groove ball bearing (9F), and right deep groove ball bearing (9F) is socketed on the bearing section (9E1) of right spindle (9E);
The center of upper right axle sleeve (9B) is right axis hole (9B3), the upper end that this right side axis hole (9B3) is used to place right spindle (9E); One end of upper right axle sleeve (9B) is disk (9B1), and this disk (9B1) is provided with spacing hole (9B11), launches self-locking blind hole (9B12), draws self-locking blind hole (9B13) in; The other end of upper right axle sleeve (9B) is following embossed card tooth (9B2), and this time embossed card tooth (9B2) meshes with the last embossed card tooth (9A31) of right-hand rotation arm (9A);
One end of described spacing hole (9B11) is for launching positive stop end (9B11a), and the other end of described spacing hole (9B11) is for drawing positive stop end (9B11b) in; Described spacing hole (9B11) is used to place right limit post (9J), this right limit post (9J) slides in spacing hole (9B11), when right limit post (9J) slides into expansion positive stop end (9B11a), right flank assembly (5) arrives the end position that launches, right lock shaft this moment (9D1) is inserted into and launches in the self-locking blind hole (9B12), by the expanded position of right lock shaft (9D1) locking right flank assembly (5); When right limit post (9J) slides into gathering positive stop end (9B11b), right flank assembly (5) arrives the end position that draws in, right lock shaft this moment (9D1) is inserted into and draws in the self-locking blind hole (9B13), by the curling position of right lock shaft (9D1) locking right flank assembly (5);
The center of bottom right axle sleeve (9C) is right axis hole (9C3), the lower end that this right side axis hole (9C3) is used to place right spindle (9E); One end of bottom right axle sleeve (9C) is disk (9C1); The other end of bottom right axle sleeve (9C) is a last embossed card tooth (9C2), and embossed card tooth (9C2) meshes with the following embossed card tooth (9A32) of right-hand rotation arm (9A) on this;
Right self-locking body (9D) includes right lock shaft (9D1), right lock shaft pin (9D2) and right from lock tube (9D3); Described right lock shaft (9D1) is provided with GGH through hole (9D11), and this GGH through hole (9D11) is used for right lock shaft pin (9D2) and passes; The described right side is provided with chute (9D31) from the column (9D33) of lock tube (9D3), this chute (9D31) is used for right lock shaft pin (9D2) and slides, one end end of column (9D33) is base plate (9D32), this base plate (9D32) is installed in the AE through hole (10B3) of upper backup pad (10A) and locates, and passes through screw retention.
4. a kind of pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait according to claim 1, it is characterized in that: the axis of the output shaft of commutation steering wheel (11A) is designated as (11A2); rocking arm (11A1) is made clockwise direction around axis (11A2) and rotated; be designated as the rise of first connecting rod (11B); rocking arm (11A1) is made anticlockwise motion around axis (11A2), be designated as the journey of drawing of first connecting rod (11B);
The rocking arm (11A1) of commutation steering wheel (11A) is when being in initial bit, first change-over valve (11C) and second change-over valve (11D) are the state of holding one's breath, the AA air guide port (11C1) of first change-over valve (11C) and AB air guide port (11C2) and not conductings of AC air guide port (11C3), the BA air guide port (11D1) of second change-over valve (11D) and BB air guide port (11D2) and not conductings of BC air guide port (11D3);
Rocking arm (11A1) counter-clockwise swing of commutation steering wheel (11A), by first connecting rod (11B), second connecting rod 11F is with the push rod of first change-over valve (11C), the push rod of second change-over valve (11D) is pulled to the journey terminal point, at this moment, the AA air guide port (11C1) of first change-over valve (11C) and AC air guide port (11C3) conducting, and AA air guide port (11C1) is by gas cylinder air guide port (11G1) conducting of a Y shape flexible pipe (11H) with gas cylinder (11G), and AC air guide port (11C3) is by the 4th Y shape flexible pipe (11L) and the CA air guide port (111a) of first pressurized strut (111) and DA air guide port (112a) conducting of second pressurized strut (112); Thereby the high pressure gas in the high-pressure gas bottle (11G) are imported in first pressurized strut (111) and second pressurized strut (112), cause the push rod of first pressurized strut (111) and the push rod of second pressurized strut (112) to retract; In like manner can get, the BA air guide port (11D1) of second change-over valve (11D) and BC air guide port (11D3) conducting, and BA air guide port (11D1) is by gas cylinder air guide port (11G1) conducting of a Y shape flexible pipe (11H) with gas cylinder (11G), and BC air guide port (11D3) is by the 5th Y shape flexible pipe (11M) and the EA air guide port (113a) of the 3rd pressurized strut (113) and FA air guide port (114a) conducting of the 4th pressurized strut (114); Thereby the high pressure gas in the high-pressure gas bottle (11G) are imported in the 3rd pressurized strut (113) and the 4th pressurized strut (114), cause the push rod of the 3rd pressurized strut (113) and the push rod of the 4th pressurized strut (114) to retract;
Rocking arm (11A1) the cw swing of commutation steering wheel (11A), by first connecting rod (11B), second connecting rod (11F) is with the push rod of first change-over valve (11C), the push rod of second change-over valve (11D) is pushed into the rise terminal point, at this moment, the AA air guide port (11C1) of first change-over valve (11C) and AB air guide port (11C2) conducting, and AA air guide port (11C1) is by gas cylinder air guide port (11G1) conducting of a Y shape flexible pipe (11H) with gas cylinder (11G), and AB air guide port (11C2) is by the 2nd Y shape flexible pipe (11J) and the CB air guide port (111b) of first pressurized strut (111) and DB air guide port (112b) conducting of second pressurized strut (112); Thereby the high pressure gas in the high-pressure gas bottle (11G) are imported in first pressurized strut (111) and second pressurized strut (112), cause the push rod of first pressurized strut (111) and the push rod of second pressurized strut (112) to be released; In like manner can get, the BA air guide port (11D1) of second change-over valve (11D) and BB air guide port (11D2) conducting, and BA air guide port (11D1) is by gas cylinder air guide port (11G1) conducting of a Y shape flexible pipe (11H) with gas cylinder (11G), and BB air guide port (11D2) is by the 3rd Y shape flexible pipe (11K) and the EB air guide port (113b) of the 3rd pressurized strut (113) and FB air guide port (114b) conducting of the 4th pressurized strut (114); Thereby the high pressure gas in the high-pressure gas bottle (11G) are imported in the 3rd pressurized strut (113) and the 4th pressurized strut (114), cause the push rod of the 3rd pressurized strut (113) and the push rod of the 4th pressurized strut (114) to be released.
5. a kind of pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait according to claim 1, it is characterized in that: left wing's driven unit (8), drawing first pressurized strut (111) that launches transition components (11) in, second pressurized strut (112) provides the movement relation under the drive source condition to be: first pressurized strut (111), the push rod of second pressurized strut (112) promotes a left side second hold-down arm (8A2) motion of left-hand rotation arm (8A) by left pressurized strut pipe link (8G), the motion of a left side second hold-down arm (8A2) drives left-hand rotation arm (8A) around left rotary shaft (8E) rotation, realizes the gathering and the expansion of the left folding wing;
Right flank driven unit (9), provide the movement relation under the drive source condition to be in the 3rd pressurized strut (113), the 4th pressurized strut (114) of drawing expansion transition components (11) in: the push rod of the 3rd pressurized strut (113), the 4th pressurized strut (114) promotes the right side second hold-down arm (9A2) motion of right-hand rotation arm (9A) by right pressurized strut pipe link (9G), the motion of right second hold-down arm (9A2) drives right-hand rotation arm (9A) around right spindle (9E) rotation, realizes the gathering and the expansion of the right folding wing.
6. a kind of pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait according to claim 1, it is characterized in that: the left self-locking shaft (8D1) of the left self-locking body (8D) in left wing's driven unit (8), movement relation under the dynamic condition that left self-locking steering wheel (8K) provides is: the rotation of left-hand rotation arm (8A) drives upper left axle sleeve (8B) and rotates, (8B) turns to end position when upper left axle sleeve, left side self-locking steering wheel (8K) rotates, drive its swing arm (8K1) to lower swing, the swing of swing arm (8K1) transmits motion to left lock shaft (8D1) by left lock shaft pin (8D2), left lock shaft (8D1) is moved downward, enter in the GG through hole (8B11), limiting upper left axle sleeve (8B) rotates, thereby restriction left-hand rotation arm (8A) rotates, and realizes its self-locking;
The right self-locking shaft (9D1) of the right self-locking body (9D) in the right flank driven unit (9), movement relation under the dynamic condition that right self-locking steering wheel (9K) provides is: the rotation of right-hand rotation arm (9A) drives upper right axle sleeve (9B) and rotates, when Upper shaft sleeve turns to end position, right self-locking steering wheel (9K) rotates, drive its swing arm (9K1) to lower swing, the swing of swing arm (9K1) transmits motion to right lock shaft (9D1) by right lock shaft pin (9D2), right lock shaft (9D1) is moved downward, enter in the GG through hole (9B11), limiting upper right axle sleeve (9B) rotates, thereby restriction right-hand rotation arm (9A) rotates, and realizes its self-locking.
7. a kind of pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait according to claim 1 is characterized in that: it is as follows that gathering launches the movement relation of transition components (11) under the dynamic condition that commutation steering wheel (11A) provides:
When first change-over valve (11C) and second change-over valve (11D) when being in initial condition, be that valve body is in the state of holding one's breath, at this moment, the AA air guide port (11C1) of first change-over valve (11C) and AB air guide port (11C2) and not conductings of AC air guide port (11C3), the BA air guide port (11D1) of second change-over valve (11D) and BB air guide port (11D2) and not conductings of BC air guide port (11D3), the swing arm (11A1) of steering wheel (11A) that then commutate is in initial position;
When commutation steering wheel (11A) rotates, drive rocking arm (11A1) swing; the swing of rocking arm (11A1) drives first connecting rod (11B) motion; the motion drive second connecting rod (11F) of first connecting rod (11B) moves; second connecting rod (11F) is connected with the push rod of first change-over valve (11C) and second change-over valve (11D), in valve body, move the realization commutation thereby drive push rod.
8. a kind of pneumatic type folding device that is applicable to the change wing setting of the amphibious unmanned plane of sky over strait according to claim 1 is characterized in that: draw in to launch transition components (11), left wing's driven unit (8), right flank driven unit (9) in the gathering that realizes wing and the mode of operation when launching be air flow line realization by commutation steering wheel (11A) control first change-over valve (11C) and second change-over valve (11D);
The expansion process of wing: rocking arm (11A1) the cw swing of commutation steering wheel (11A) makes the push rod of change-over valve be pushed into the rise terminal point, and the high pressure gas first aspect in the high-pressure gas bottle enters first pressurized strut (111) through gas cylinder air guide port (11G1), AA air guide port (11C1), AB air guide port (11C2), CB air guide port (111b) in turn at this moment; Second aspect enters second pressurized strut (112) through gas cylinder air guide port (11G1), AA air guide port (11C1), AB air guide port (11C2), DB air guide port (112b) in turn; The third aspect enters the 3rd pressurized strut (113) through gas cylinder air guide port (11G1), BA air guide port (11D1), BB air guide port (11D2), EB air guide port (113b) in turn; Fourth aspect enters the 4th pressurized strut (114) through gas cylinder air guide port (11G1), BA air guide port (11D1), BB air guide port (11D2), FB air guide port (114b) in turn; High pressure gas enter rapidly in the air cavity of four pressurized struts, the push rod of pressurized strut is released, so just the translational motion of push rod is converted to the rotational motion of left and right sides pivoted arm, this kind situation left and right sides pivoted arm launches wing to inner rotary, and the wing of expansion reaches when launching end position, and limited post arrives and launches positive stop end, make lock shaft insert launch pivoted arm to be carried out self-locking fix in the self-locking blind hole by the self-locking steering wheel, preventing that folding angle changes in the unmanned plane during flying process influences airworthiness;
The gathering process of wing: rocking arm (11A1) counter-clockwise swing of commutation steering wheel (11A) makes the push rod of change-over valve be pulled to the journey terminal point, and the high pressure gas first aspect in the high-pressure gas bottle enters first pressurized strut (111) through gas cylinder air guide port (11G1), AA air guide port (11C1), AC air guide port (11C3), CA air guide port (111a) in turn at this moment; Second aspect enters second pressurized strut (112) through gas cylinder air guide port (11G1), AA air guide port (11C1), AC air guide port (11C3), DA air guide port (112a) in turn; The third aspect enters the 3rd pressurized strut (113) through gas cylinder air guide port (11G1), BA air guide port (11D1), BC air guide port (11D3), EA air guide port (113a) in turn; Fourth aspect enters the 4th pressurized strut (114) through gas cylinder air guide port (11G1), BA air guide port (11D1), BC air guide port (11D3), FA air guide port (114a) in turn; High pressure gas enter rapidly in the air cavity of four pressurized struts, the push rod of pressurized strut is retracted, so just the translational motion of push rod is converted to the rotational motion of left and right sides pivoted arm, this kind situation left and right sides pivoted arm inwardly rotates, wing is drawn in, the wing that draws in reaches when drawing end position in, and limited post arrives and draws positive stop end in, by the self-locking steering wheel lock shaft being inserted draws in the self-locking blind hole, pivoted arm is carried out self-locking fix, preventing in the unmanned plane navigation process under water that folding angle changes influences the submarine navigation performance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310087234.XA CN103224021B (en) | 2013-03-19 | 2013-03-19 | Pneumatic folding apparatus of variable-wing sweepback angle suitable for aeronaval unmanned aerial vehicle |
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| CN201310087234.XA CN103224021B (en) | 2013-03-19 | 2013-03-19 | Pneumatic folding apparatus of variable-wing sweepback angle suitable for aeronaval unmanned aerial vehicle |
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| CN103224021A true CN103224021A (en) | 2013-07-31 |
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| CN105366033A (en) * | 2015-11-10 | 2016-03-02 | 中国空气动力研究与发展中心高速空气动力研究所 | Wing dissymmetric backswept rolling control method for gliding aircrafts |
| CN105752335A (en) * | 2016-02-25 | 2016-07-13 | 胡增浩 | Unmanned aerial vehicle for aerial photography |
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| CN105366033A (en) * | 2015-11-10 | 2016-03-02 | 中国空气动力研究与发展中心高速空气动力研究所 | Wing dissymmetric backswept rolling control method for gliding aircrafts |
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| CN112158325A (en) * | 2020-09-30 | 2021-01-01 | 浙江大学 | Tailstock type vertical take-off and landing unmanned aerial vehicle and control method thereof |
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| CN113104194A (en) * | 2021-04-19 | 2021-07-13 | 刘磊 | Unmanned aerial vehicle wing folding self-locking device |
| CN113104194B (en) * | 2021-04-19 | 2023-11-24 | 无锡微研中佳精机科技有限公司 | Unmanned aerial vehicle wing folding self-locking device |
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| CN114572392B (en) * | 2022-02-28 | 2023-05-26 | 亿航智能设备（广州）有限公司 | Aircraft, control method thereof, storage medium, system and equipment |
| CN114802708A (en) * | 2022-06-28 | 2022-07-29 | 北京理工大学 | Novel automatic unfolding structure of aircraft fixed wing and rudder wing |
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| CN114802708B (en) * | 2022-06-28 | 2022-09-09 | 北京理工大学 | Novel automatic unfolding structure of aircraft fixed wing and rudder wing |
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