CN109436296B - Barrel-type launching folding wing unmanned aerial vehicle and launching method thereof - Google Patents
Barrel-type launching folding wing unmanned aerial vehicle and launching method thereof Download PDFInfo
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- CN109436296B CN109436296B CN201811601135.8A CN201811601135A CN109436296B CN 109436296 B CN109436296 B CN 109436296B CN 201811601135 A CN201811601135 A CN 201811601135A CN 109436296 B CN109436296 B CN 109436296B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/16—Blades
- B64C11/20—Constructional features
- B64C11/28—Collapsible or foldable blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
- B64F1/06—Launching or towing gear using catapults
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/70—Transport or storage specially adapted for UAVs in containers
Abstract
The invention provides a barrel-type launching folding wing unmanned aerial vehicle and a launching method thereof, wherein the barrel-type launching folding wing unmanned aerial vehicle comprises: a folding wing unmanned plane (7) and a transmitting cylinder (6); when in a barrel-mounted state, the folding wing unmanned aerial vehicle (7) is in a fully folded state and is arranged in the launching barrel (6); when the launching cylinder (6) launches the folding wing unmanned aerial vehicle (7), the folding wing unmanned aerial vehicle (7) is popped up from the launching cylinder (6), and after a gradual unfolding variant process, the folding wing unmanned aerial vehicle climbs to enter a fully unfolded patrol task state. The advantages are that: the device has the characteristics of simple structure, light weight and strong engineering realizability. Meanwhile, the Z-shaped folding missile wing has the characteristics of small occupied space in a folded state, large wing area in an unfolded state, large aspect ratio and the like, so that the space utilization rate and the aerodynamic performance in a patrol task state are effectively improved.
Description
Technical Field
The invention belongs to the technical field of folding wing unmanned aerial vehicles, and particularly relates to a barrel-type launching folding wing unmanned aerial vehicle and a launching method thereof.
Background
The folding wing unmanned aerial vehicle can fold each part through the folding mechanism, effectively reduces the space size, and realizes the transmission or the throwing of various weapon platforms. Through the organic combination with ammunition technology, single or multiple tasks such as reconnaissance and damage assessment, communication relay, target indication, accurate striking and the like can be executed, and the method has the characteristics of low cost, high efficiency-cost ratio, small size, strong stealth capability and the like. Compared with the traditional unmanned plane, the folding wing unmanned plane can be launched or put in by various weapon platforms, can be assembled to various military arms, can quickly enter a combat area, has strong outburst prevention capability and is flexible in tactical use; compared with the conventional ammunition, the ammunition has long blank time and wide application range, and can find and attack hidden time-sensitive targets.
The conventional folding wing unmanned aerial vehicle mostly adopts an X-shaped wing or tandem wing layout type. The effective loading space of the X-shaped wing layout aircraft is relatively small; the aerodynamic interference phenomenon of the front wing and the rear wing of the tandem wing layout aircraft is serious.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a barrel-type launching folding wing unmanned aerial vehicle and a launching method thereof, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
The invention provides a barrel-type emission folding wing unmanned aerial vehicle, which comprises: a folding wing unmanned plane (7) and a transmitting cylinder (6); when in a barrel-mounted state, the folding wing unmanned aerial vehicle (7) is in a fully folded state and is arranged in the launching barrel (6); when the launching cylinder (6) launches the folding wing unmanned aerial vehicle (7), the folding wing unmanned aerial vehicle (7) is popped up from the launching cylinder (6), and after a gradual unfolding variant process, the folding wing unmanned aerial vehicle climbs to enter a fully unfolded patrol task state;
the folding wing unmanned aerial vehicle (7) comprises a body (1), a Z-shaped folding missile wing (2), a left full-moving horizontal tail (3A), a right full-moving horizontal tail (3B), a full-moving vertical tail (4) and a foldable propeller assembly (5);
the machine body (1) is of a cylindrical structure, and the bottom of the machine body (1) is cut flat to form a setting plane for placing the folded Z-shaped folding missile wing (2); the left side surface and the right side surface of the tail part of the machine body (1) are contracted to form a contraction section (15) similar to a truncated cone shape; the left side surface and the right side surface of the tail end of the contraction section (15) are setting surfaces for placing the folded foldable propeller assembly (5); the right side surface of the front end of the contraction section is cut flat to form a vertical surface (16) for placing the folded full-motion vertical fin (4); the upper surface of the contraction section (15) forms a left cut Ping Xiemian (17) and a right cut Ping Xiemian (18) which are bilaterally symmetrical, and the left cut Ping Xiemian (17) is used for placing the folded left full-motion horizontal tail (3A); the right cut Ping Xiemian (18) is used for placing the folded right full-motion horizontal tail (3B);
The Z-shaped folding missile wing (2) comprises a middle wing section (23), a left outer main wing (24A), a left outer aileron (24B), a right outer main wing (25A) and a right outer aileron (25B); the center of the middle wing section (23) is arranged at the center of the bottom of the machine body (1) in a folding way through a middle wing folding mechanism (21); the left side of the middle wing section (23) is provided with a left outer main wing (24A) in a folding way through a left outer main wing folding mechanism (22A); the right side of the middle wing section (23) is provided with the right outer main wing (25A) in a foldable way through a right outer main wing folding mechanism (22B); the left outer main wing (24A) and the right outer main wing (25A) are bilaterally symmetrical relative to the middle wing section (23); when the Z-shaped folding missile wing (2) is in a folding state, the Z-shaped folding missile wing (2) is folded into a small straight wing with the length identical to that of the fuselage (1) and parallel to the axis of the fuselage (1); when the Z-shaped folding missile wing (2) is in a flight patrol task state, the Z-shaped folding missile wing (2) is unfolded into a large straight wing which has the length of 2 times of the length of the fuselage (1) and is perpendicular to the fuselage (1);
the right outer main wing (25A) is provided with the right outer aileron (25B) in a region of 0.7-1 along the chord direction; one end of the right outer aileron (25B) is rotatably connected with the right outer main wing (25A) through a right outer main wing control surface rotating shaft (28); a right outer aileron deflection steering engine (26B) is arranged on the right outer main wing (25A), and the right outer aileron deflection steering engine (26B) is connected with the right outer aileron (25B) through a right outer aileron deflection steering engine driving connecting rod (27) so as to drive the right outer aileron (25B) to deflect around a right outer main wing control surface rotating shaft (28); the left outer main wing (24A) is provided with a deflectable left outer aileron (24B) and a left outer aileron deflection steering engine (26A) for driving the left outer aileron (24B) to deflect; the left outer aileron (24B) and the right outer aileron (25B) are bilaterally symmetrical relative to the central position of the Z-shaped folding missile wing (2);
The left full-moving horizontal tail (3A) is arranged above the left side of the tail of the machine body (1) in a folding way through a left horizontal tail folding mechanism; the right full-motion horizontal tail (3B) is arranged above the right side of the tail of the machine body (1) in a folding way through a right horizontal tail folding mechanism (31), and a certain dihedral angle exists between the left full-motion horizontal tail (3A) and the right full-motion horizontal tail (3B), so that the space utilization rate of a folded state in the cylinder is improved;
the full-motion vertical fin (4) is arranged behind the machine body (1) in a folding way through a vertical fin folding mechanism (41), and the full-motion vertical fin (4) is positioned in front of the right full-motion horizontal fin (3B); wherein the number of the all-movable vertical tails (4) is one or two; when one full-motion vertical fin (4) is arranged, the full-motion vertical fin (4) is positioned at the left side or the right side behind the machine body (1); when the two full-motion vertical tails (4) are arranged, the full-motion vertical tails (4) are respectively positioned at the left side and the right side of the rear of the machine body (1);
the foldable propeller assembly (5) is arranged in the middle of the rear end face of the machine body (1) and comprises a propeller clamp (53), and a left blade (51A) and a right blade (51B) which are symmetrically arranged on the left side and the right side of the propeller clamp (53); the left blade (51A) and the right blade (51B) are of an antisymmetric structure; the paddle clamp (53) is connected with a driving motor in the machine body (1) through a driving shaft (54), and the driving motor drives the paddle clamp (53) to rotate through the driving shaft (54); the left blade (51A) is arranged at the left end of the blade clamp (53) in a folding way through a left blade folding mechanism (52A); the right blade (51B) is arranged at the right end of the blade clamp (53) in a folding way through a right blade folding mechanism (52B).
Preferably, the machine body (1) adopts a modularized design, and a load cabin (11), a power supply cabin (12), an inertial navigation cabin (13) and a power cabin (14) are sequentially arranged from the head to the tail; the load cabin (11) is used for carrying a seeker and a fighter part to finish an accurate striking task, and can also be used for carrying detection and damage assessment and air warning by selecting a communication device to finish a communication relay task; the power supply cabin (12) is used for carrying energy supply equipment so as to provide required energy for the foldable propeller assembly (5) and electronic equipment in the load cabin (11); the inertial navigation cabin (13) is an inertial navigation device cabin and is provided with a gyroscope and an accelerometer device; the power pod (14) is arranged with a power device to drive the foldable propeller assembly (5).
Preferably, the middle wing section (23) is a rectangular wing section with the length equal to the length of the fuselage (1); the middle wing folding mechanism (21) is a square rotating mechanism and comprises a middle wing driving spring (20A) and a middle wing mandrel (20B), and is a torsion spring or a vortex spring.
Preferably, the left outer main wing (24A) and the right outer main wing (25A) are rectangular wing sections mounted on the outer side of the bottom of the middle wing section (23), the span length of the rectangular wing sections is half of the span length of the middle wing section (23), and the chord length of the rectangular wing sections is smaller than the chord length of the middle wing section (23).
Preferably, the left outer main wing folding mechanism (22A) and the right outer main wing folding mechanism (22B) are circular rotation mechanisms.
Preferably, the left full-motion horizontal tail (3A) and the right full-motion horizontal tail (3B) are in a left-right plane symmetrical structure, and the right full-motion horizontal tail (3B) comprises a right horizontal tail folding mechanism (31), a horizontal tail rotating shaft (32), a horizontal tail deflection steering engine (33), a horizontal tail control surface rotating shaft (34), a horizontal tail control surface (35) and a horizontal tail rotation limiter (36); the right horizontal tail folding mechanism (31) is connected with the machine body (1) through the horizontal tail rotating shaft (32) and is used for controlling the folding and unfolding of the right full-motion horizontal tail (3B); the horizontal tail rotation limiter (36) is used for controlling the rotation angle of the right full-motion horizontal tail (3B); the horizontal tail control surface (35) is connected with the horizontal tail deflection steering engine (33) through a horizontal tail control surface rotating shaft (34), the horizontal tail deflection steering engine (33) is arranged on the right horizontal tail folding mechanism (31), and the horizontal tail control surface (35) is controlled to deflect through the horizontal tail control surface rotating shaft (34).
Preferably, the full-motion vertical fin (4) comprises a vertical fin folding mechanism (41), a vertical fin rotating shaft (42), a vertical fin deflection steering engine (43), a vertical fin control surface rotating shaft (44), a vertical fin control surface (45) and a vertical fin rotating limiter (46); the vertical tail folding mechanism (41) is connected with the machine body (1) through the vertical tail rotating shaft (42) and is used for controlling the folding and unfolding of the full-motion vertical tail (4); the vertical tail deflection steering engine (43) is arranged on the vertical tail folding mechanism (41), and the deflection of the vertical tail control surface (45) is controlled through the vertical tail control surface rotating shaft (44); the vertical tail rotation limiter (46) is used for controlling the rotation angle of the full-motion vertical tail (4).
Preferably, the transmitting cylinder (6) comprises a dust cover (61), a transmitting cylinder bracket (62), a cylinder (63), a piston boosting device (64), a gas generator (65) and a transmitting cylinder base (66);
the head of the bullet cylinder (63) is provided with the dust cover (61); the exterior of the cartridge (63) is provided with the cartridge bracket (62); the tail part of the bullet cylinder (63) is provided with the launching cylinder base (66); the fuel gas generator (65) is arranged on the emission cylinder base (66); the gas outlet end of the gas generator (65) is provided with the piston boosting device (64); the front of the piston boosting device (64) is provided with the folding wing unmanned aerial vehicle (7).
The invention also provides a method for launching the barrel-type launching folding wing unmanned aerial vehicle, which comprises the following steps:
step 1, a folding wing unmanned aerial vehicle (7) is in a completely folded state and is placed in a transmitting cylinder (6);
wherein, folding wing unmanned aerial vehicle (7) are in complete folding state, mean:
for the Z-shaped folding missile wing (2), a left outer main wing (24A) is folded to be right below a middle wing section (23) around a left outer main wing folding mechanism (22A), a right outer main wing (25A) is folded to be right below the middle wing section (23) around a right outer main wing folding mechanism (22B), the middle wing section (23) is rotated to be right below a fuselage (1) around a middle wing folding mechanism (21), and at the moment, the Z-shaped folding missile wing (2) is folded into a small straight wing with the length equivalent to the length of the fuselage (1) and parallel to the axis of the fuselage (1);
For a left full-moving horizontal tail (3A) and a right full-moving horizontal tail (3B), the left full-moving horizontal tail (3A) is folded on a left cut Ping Xiemian (17) of the machine body (1) through a left horizontal tail folding mechanism; the right full-moving horizontal tail (3B) is folded on a right cut Ping Xiemian (18) of the machine body (1) through a right horizontal tail folding mechanism (31);
for the full-motion vertical fin (4), the full-motion vertical fin (4) is folded on a vertical plane (16) on the right side surface of the machine body (1) through a vertical fin folding mechanism (41);
for the foldable propeller assembly (5), a left blade (51A) is folded on the left side surface of the tail of the airframe (1) through a left blade folding mechanism (52A); the right blade (51B) is folded on the right side surface of the tail part of the machine body (1) through a right blade folding mechanism (52B);
by means of the design that the bottom of the fuselage (1) is cut flat, the tail is contracted, the upper surface of the tail is cut into a Zuo Qieping inclined plane (17) and a right cut Ping Xiemian (18), when the folding wing unmanned aerial vehicle (7) is in a fully folded state, the radial maximum size of the folding wing unmanned aerial vehicle (7) does not exceed the diameter of the transmitting cylinder (6), and the length of the folding wing unmanned aerial vehicle does not exceed the length of the transmitting cylinder (6), so that the folding wing unmanned aerial vehicle can be completely contained in the cylinder of the transmitting cylinder (6);
step 2, after an individual soldier carries a transmitting cylinder (6) provided with the folding wing unmanned aerial vehicle (7) to a transmitting place, the transmitting cylinder (6) is installed according to a required transmitting angle;
Step 3, starting a gas generator (65) of the launching tube (6), generating high-pressure gas by the gas generator (65), and ejecting the folding wing unmanned aerial vehicle (7) from the launching tube (6) through a piston boosting device (64);
step 4, after the folding wing unmanned aerial vehicle (7) pops up from the transmitting cylinder (6), the folding wing unmanned aerial vehicle climbs into a fully-unfolded patrol task state after a gradual unfolding modification process, and the transmitting process is completed;
specifically, the axial direction of the machine body (1) is taken as an X axis, the Z axis is in the symmetrical plane of the Z-shaped folding missile wing (2), and is perpendicular to the X axis, and the direction perpendicular to the X-Z plane is taken as a Y axis;
after the folding wing unmanned aerial vehicle (7) is ejected from the transmitting barrel (6), the folding wing unmanned aerial vehicle is gradually unfolded from a folding state under the action of each folding mechanism until a fully unfolded state is formed, and the variant process is as follows:
for the Z-shaped folding missile wing (2), wherein the wing section (23) rotates clockwise in an XY plane through a middle wing folding mechanism (21), meanwhile, the left outer main wing (24A) rotates anticlockwise in the XY plane through a left outer main wing folding mechanism (22A), the right outer main wing (25A) rotates anticlockwise in the XY plane through a right outer main wing folding mechanism (22B), after the Z-shaped middle state is formed through the left outer main wing (24A), the middle wing section (23) and the right outer main wing (25A), the middle wing section (23), the left outer main wing (24A) and the right outer main wing (25A) continue to rotate until the middle wing section (23) rotates to a position vertical to the fuselage (1), the left outer main wing (24A) rotates to a position collinear with the middle wing section (23), and at the moment, the Z-shaped missile wing (2) expands to be a wing with a length which is 2 times longer than the length of the fuselage (1) and is vertical to the fuselage (1);
For the left full-motion horizontal tail (3A) and the right full-motion horizontal tail (3B), the left full-motion horizontal tail (3A) rotates anticlockwise in an XY plane through a left horizontal tail folding mechanism until the axis of the left full-motion horizontal tail (3A) is perpendicular to the axis of the machine body (1); simultaneously, the right full-motion horizontal tail (3B) rotates clockwise in an XY plane through a right horizontal tail folding mechanism (31) until the axis of the right full-motion horizontal tail (3B) is perpendicular to the axis of the machine body (1);
for the full-motion vertical fin (4), the full-motion vertical fin (4) rotates clockwise in an XZ plane through a vertical fin folding mechanism (41) until the axis of the full-motion vertical fin (4) is perpendicular to the axis of the machine body (1);
for the foldable propeller assembly (5), the left blade (51A) is rotated counterclockwise in the XY plane by the left blade folding mechanism (52A), while the right blade (51B) is rotated clockwise in the XY plane by the right blade folding mechanism (52B) until the left blade (51A), the blade clamp (53) and the right blade (51B) form a straight shape.
The barrel-type launching folding wing unmanned aerial vehicle and the launching method thereof provided by the invention have the following advantages:
the invention provides a cylinder type launching folding wing unmanned aerial vehicle and a launching method thereof, which have the characteristics of good pneumatic characteristics in a cruising state, small occupied space in a cylinder loading state, light weight, portability by being carried on a back of an individual soldier, convenience in operation and the like.
Drawings
Fig. 1 is a schematic structural diagram of a folding wing unmanned aerial vehicle in a flight patrol task state;
fig. 2 is a schematic structural view of one side of the folding wing unmanned aerial vehicle in a folding state;
fig. 3 is a schematic structural view of the other side of the folding wing unmanned aerial vehicle in a folding state;
fig. 4 is a schematic layout view of the folding wing unmanned aerial vehicle in the transmitting cylinder;
FIG. 5 is a schematic illustration of a variation of the present invention from a collapsed state to a fly-by-wire state after being launched from within a cartridge;
FIG. 6 is a schematic view of the relative positions of the tail parts of the machine body according to the present invention;
fig. 7 is a schematic view showing the arrangement of the loading space inside the body 1 of the present invention in one orientation;
fig. 8 is a schematic view showing the arrangement of the loading space inside the body 1 of the present invention in another orientation;
FIG. 9 is a schematic view of the layout of the Z-folded missile wing 2 of the present invention;
FIG. 10 is an isometric view of the middle panel 23 of the Z-folded missile wing 2 of the present invention;
FIG. 11 is a top view of the middle wing section 23 of the Z-folded missile wing 2 of the present invention;
FIG. 12 is a bottom view of the right outer main wing 25A of the Z-folded missile wing 2 of the present invention;
FIG. 13 is a cross-sectional view taken along line A-A of FIG. 12;
FIG. 14 is a bottom view of the right outer main wing 25A of the Z-folded missile wing 2 of the present invention;
FIG. 15 is an isometric view of the full motion horizontal tail 3 of the present invention;
FIG. 16 is a top view of the full motion horizontal tail 3 of the present invention;
FIG. 17 is a bottom view of the full motion horizontal tail 3 of the present invention;
FIG. 18 is an isometric view of the full motion vertical fin 4 of the present invention;
FIG. 19 is a left side view of the full motion vertical fin 4 of the present invention;
fig. 20 is a schematic view of the foldable propeller assembly 5 of the present invention in a folded state;
fig. 21 is a schematic view of the foldable propeller assembly 5 of the present invention in an intermediate state;
fig. 22 is a schematic view of the foldable propeller assembly 5 of the present invention in a fully deployed position;
fig. 23 is a diagram showing the change of the foldable propeller assembly 5 from the folded state to the fully unfolded state according to the present invention;
FIG. 24 is a schematic view of a cartridge-type emission application scenario of the present invention;
FIG. 25 is a schematic diagram of an air drop emission application scenario of the present invention;
wherein:
1, a machine body; 11 load cabins; 12 power supply cabins; 13 inertial navigation cabin; 14, a power cabin; 15 shrink sections; 16 vertical planes; 17 left cut Ping Xiemian; 18 right cut Ping Xiemian;
2Z-shaped folding missile wing; 20A middle wing drive spring; 20B middle wing core shaft; 21 a middle wing folding mechanism; 22A left outer main wing folding mechanism; 22B right outer main wing folding mechanism; 23 wing segments; 24A left outer main wing; 24B left outer aileron; 25A right outer main wing; 25B right outer aileron; 26A left outer aileron deflection steering engine; 26B right outer aileron deflection steering engine; 27, a steering engine driving connecting rod deflects from the outer aileron; 28 the rotating shaft of the control surface of the right outer main wing;
3A left full-motion horizontal tail; 3B, right full-motion horizontal tail; 31 right horizontal tail folding mechanism; 32 horizontal tail rotation shafts; 33 horizontal tail deflection steering engine; 34 horizontal tail control surface spindle; 35 horizontal tail control surface; 36 rotating the limiter;
4, full-motion vertical tails; 41 vertical tail folding mechanism; 42 vertical tail rotating shafts; 43 vertical tail deflection steering engine; 44 vertical control surface spindle; 45 vertical tail control surfaces; 46 vertical tail rotation limiter;
5 a collapsible propeller assembly; 51A left blade; 51B right blade; 52A left blade folding mechanism; 52B right blade folding mechanism; 53 paddle clamps; 54 a drive shaft;
6, a transmitting cylinder; a dust cover 61; a launch canister holder 62; a cartridge 63; a piston boosting device 64; a gas generator 65; a launch canister base 66;
7 folding wing unmanned aerial vehicle.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the invention more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In order to overcome the defects of low space utilization rate, serious aerodynamic interference phenomenon and the like of the traditional folding wing unmanned aerial vehicle. The invention provides a cylinder type launching folding wing unmanned aerial vehicle and a launching method thereof, which have the characteristics of good pneumatic characteristics in a cruising state, small occupied space in a cylinder loading state, light weight, portability by being carried on a back of an individual soldier, convenience in operation and the like.
Folding wing unmanned aerial vehicle of cylinder transmission includes: a folding wing unmanned aerial vehicle 7 and a transmitting cylinder 6; in the canister loading state, the folding wing unmanned aerial vehicle 7 is in a fully folded state and is arranged inside the transmitting canister 6, as shown in fig. 4, which is a state diagram when the folding wing unmanned aerial vehicle 7 is arranged inside the transmitting canister 6; when the launching cylinder 6 launches the folding wing unmanned aerial vehicle 7, the folding wing unmanned aerial vehicle 7 is popped up from the launching cylinder 6, and after a gradual unfolding modification process, the folding wing unmanned aerial vehicle climbs to enter a fully unfolded patrol task state. Referring to fig. 1, a schematic structural diagram of a folding wing unmanned aerial vehicle provided by the invention in a flight patrol task state; fig. 2 is a schematic structural view of one side of the folding wing unmanned aerial vehicle in a folding state; fig. 3 is a schematic structural view of the other side of the folding wing unmanned aerial vehicle in a folding state. Fig. 5 is a schematic diagram of a variation of the present invention from a collapsed state to a fly-by-wire state after being launched from within the cartridge.
The following details the structure of the folding wing unmanned aerial vehicle 7 and the launch canister 6 respectively:
folding wing unmanned aerial vehicle 7
The folding wing unmanned aerial vehicle 7 comprises a fuselage 1, a Z-shaped folding missile wing 2, a left full-moving horizontal tail 3A, a right full-moving horizontal tail 3B, a full-moving vertical tail 4 and a foldable propeller assembly 5. The folding mechanism for connecting the machine body 1 and each part is used for realizing folding and unfolding of each mechanism, and the modification process from the barrel standby state to the flight patrol task state of the folding wing unmanned aerial vehicle is completed.
(1) Fuselage body
Referring to fig. 6 and 1, the machine body 1 is in a cylindrical structure, the bottom of the machine body 1 is cut flat to form a setting plane for placing the folded Z-shaped folding missile wing 2, so that the radial maximum size of the whole machine after folding is ensured not to exceed the diameter of the launching barrel; the left and right sides of the tail of the machine body 1 are contracted to form a contraction section 15 similar to a truncated cone shape; the left and right side surfaces of the tail end of the contraction section 15 are setting surfaces for placing the folded foldable propeller assembly 5; the right side surface of the front end of the contraction section is cut flat to form a vertical surface 16 for placing the folded full-motion vertical fin 4; the upper surface of the contraction section 15 forms a left cut flat inclined surface 17 and a right cut flat inclined surface 18 which are bilaterally symmetrical, the intersection line of the left cut flat inclined surface 17 and the right cut flat inclined surface 18 is the axis of the machine body 1, and the height of the left cut flat inclined surface 17 gradually becomes lower from the axis of the machine body to the left; the right cut flat incline 18 becomes progressively lower in height from the axis of the fuselage to the right; the left cut flat inclined surface 17 is consistent with the inclination of the bottom surface of the left full-motion flat tail 3A and is used for placing the folded left full-motion flat tail 3A; the right cut flat inclined surface 18 is consistent with the inclination of the bottom surface of the right full-motion flat tail 3B and is used for placing the folded right full-motion flat tail 3B; that is, when the left full-motion flat tail 3A is folded on the Zuo Qieping inclined plane 17, the bottom surface of the left full-motion flat tail 3A is just in contact with the surface of the left cut flat inclined plane 17; similarly, when the right full-motion flat tail 3B is folded on the right cut flat inclined surface 18, the bottom surface of the right full-motion flat tail 3B just contacts the surface of the right cut flat inclined surface 18. Through setting up two symmetrical cut flat inclined planes, but not a plane that is parallel and level with the low position of cutting flat inclined plane, can increase the space utilization of fuselage tail section, be used for arranging the full-motion flat tail after folding simultaneously to satisfy the space size constraint of section of thick bamboo loading state.
The machine body 1 adopts a modularized design, and four cabin sections of a load cabin 11, a power supply cabin 12, an inertial navigation cabin 13 and a power cabin 14 are sequentially arranged from the head to the tail with reference to fig. 7-8; the load cabin 11 is used for carrying a seeker and a warhead to finish an accurate striking task, and can also be used for carrying detection and damage evaluation, air warning, communication relay and other tasks by selecting carrying detection and communication equipment; the power supply cabin 12 is used for carrying energy supply equipment such as a battery and the like so as to provide required energy for the foldable propeller assembly 5, electronic equipment in the load cabin 11 and the like; the inertial navigation cabin 13 is an inertial navigation device cabin and is provided with equipment such as a gyroscope, an accelerometer and the like; the power pod 14 is provided with power equipment for driving the foldable propeller assembly 5, including a drive motor, an electronic governor, and the like.
(2) Z-shaped folding missile wing
The Z-shaped folding missile wing 2 is positioned at the lower middle part of the fuselage 1, and comprises a middle wing section 23, a left outer main wing 24A, a left outer aileron 24B, a right outer main wing 25A and a right outer aileron 25B with reference to FIG. 9; the middle wing section 23, the left outer main wing 24A and the left outer aileron 24B are three sections of lifting surfaces; the left outer flap 24B and the right outer flap 25B are two control surfaces.
Referring to fig. 10 and 11, the middle wing section 23 is a rectangular wing section with an extension equal to the length of the fuselage 1; the center of the middle wing section 23 is arranged at the center position of the bottom of the fuselage 1 in a foldable way through the middle wing folding mechanism 21; the middle wing folding mechanism 21 is a square rotating mechanism, and comprises a middle wing driving spring 20A and a middle wing mandrel 20B, and can be realized by adopting a torsion spring structure or a plane spiral spring and other structures, and the folding and unfolding of the middle wing section 23 are controlled by the rotation of the middle wing folding mechanism 21.
The left side of the middle wing section 23 is provided with a left outer main wing 24A in a foldable manner through a left outer main wing folding mechanism 22A; the right side of the middle wing section 23 is provided with a right outer main wing 25A in a foldable manner through a right outer main wing folding mechanism 22B; the left outer main wing 24A and the right outer main wing 25A are bilaterally symmetrical with respect to the middle wing section 23; the left outer main wing 24A and the right outer main wing 25A are rectangular wing segments mounted on the outer side of the bottom of the middle wing segment 23, the span length of the rectangular wing segments is half of that of the middle wing segment 23, and the chord length of the rectangular wing segments is slightly smaller than that of the middle wing segment 23. The left outer main wing folding mechanism 22A and the right outer main wing folding mechanism 22B are circular rotation mechanisms. In flight, the left outer main wing 24A and the right outer main wing 25A rotate to a patrol task state through an outer main wing folding mechanism, so that high aspect ratio and high lift-drag ratio cruising are realized; in the package state, the left outer main wing 24A and the right outer main wing 25A are rotated to the folded state by the outer main wing folding mechanism, thereby realizing package emission.
When the Z-shaped folding missile wing 2 is in a folding state, the Z-shaped folding missile wing 2 is folded into a small straight wing with the length equivalent to that of the fuselage 1 and parallel to the axis of the fuselage 1; when the Z-shaped folding missile wing 2 is in a patrol task state, the Z-shaped folding missile wing 2 is unfolded into a large straight wing with the length of the fuselage 1 being 2 times longer and perpendicular to the fuselage 1;
The left outer main wing 24A and the right outer main wing 25A are connected to the middle wing section 23 by an outer main wing folding mechanism and are symmetrical about the fuselage axis.
Referring to fig. 12 to 14, the right outer main wing 25A is a rectangular wing section installed at the outer side of the bottom of the middle wing section 23, and the right outer aileron 25B is installed in the area 0.7 to 1 in the chord direction; one end of the right outer aileron 25B is rotatably connected with the right outer main wing 25A through a right outer main wing control surface rotating shaft 28; a right outer aileron deflection steering engine 26B is arranged on the right outer main wing 25A, and the right outer aileron deflection steering engine 26B is connected with the right outer aileron 25B through a right outer aileron deflection steering engine driving connecting rod 27 so as to drive the right outer aileron 25B to deflect around a right outer main wing control surface rotating shaft 28; the left outer main wing 24A is provided with a deflectable left outer aileron 24B and a left outer aileron deflection steering engine 26A for driving the left outer aileron 24B to deflect; the left outer flap 24B and the right outer flap 25B are bilaterally symmetrical with respect to the center position of the zigzag folding missile wing 2;
(3) Left full-motion horizontal tail and right full-motion horizontal tail
The left full-moving horizontal tail 3A is arranged above the left side of the tail of the machine body 1 in a folding way through a left horizontal tail folding mechanism; the right full-moving horizontal tail 3B is arranged above the right side of the tail of the machine body 1 in a folding way through a right horizontal tail folding mechanism 31; the left full-motion horizontal tail 3A and the right full-motion horizontal tail 3B have certain dihedral angles, so that the space utilization rate of the folded state in the cylinder is improved;
The left full-motion horizontal tail 3A and the right full-motion horizontal tail 3B are of a symmetrical structure in the left-right direction, and referring to fig. 15 to 17, the structure of the left full-motion horizontal tail 3B is described by taking the right full-motion horizontal tail 3B as an example only: the right full-motion horizontal tail 3B comprises a right horizontal tail folding mechanism 31, a horizontal tail rotating shaft 32, a horizontal tail deflection steering engine 33, a horizontal tail control surface rotating shaft 34, a horizontal tail control surface 35 and a horizontal tail rotation limiter 36; the right horizontal tail folding mechanism 31 is connected with the machine body 1 through a horizontal tail rotating shaft 32 and is used for controlling the folding and unfolding of the right full-motion horizontal tail 3B; the horizontal tail rotation limiter 36 is used for controlling the rotation angle of the right full-motion horizontal tail 3B; the horizontal tail control surface 35 is connected with the horizontal tail deflection steering engine 33 through a horizontal tail control surface rotating shaft 34, the horizontal tail deflection steering engine 33 is arranged on the right horizontal tail folding mechanism 31, and the deflection of the horizontal tail control surface 35 is controlled through the horizontal tail control surface rotating shaft 34.
(4) Full-moving vertical fin
In the drawing, a full-motion vertical fin 4 is arranged on the right side of the rear of the machine body 1 in a folding way through a vertical fin folding mechanism 41, and the full-motion vertical fin 4 is positioned in front of a right full-motion horizontal fin 3B; in practical application, when one full-motion vertical fin 4 is arranged, the full-motion vertical fin can also be arranged at the left side of the rear of the machine body 1 in a folding way; the full-motion vertical fin 4 can also be arranged and is respectively positioned at the left side and the right side behind the machine body 1;
Referring to fig. 18-19, the full motion tail 4 includes a tail folding mechanism 41, a tail rotation shaft 42, a tail deflection steering engine 43, a tail control surface rotation shaft 44, a tail control surface 45, and a tail rotation limiter 46; the vertical tail folding mechanism 41 is connected with the machine body 1 through a vertical tail rotating shaft 42 and is used for controlling the folding and unfolding of the full-motion vertical tail 4; the vertical tail deflection steering engine 43 is arranged on the vertical tail folding mechanism 41, and the deflection of the vertical tail control surface 45 is controlled through the vertical tail control surface rotating shaft 44; the vertical tail rotation limiter 46 is used for controlling the rotation angle of the full-motion vertical tail 4.
(5) Foldable propeller assembly
Referring to fig. 20 to 23, the foldable propeller assembly 5 is installed at the middle of the rear end surface of the body 1, and includes a propeller clip 53 and left and right blades 51A and 51B symmetrically installed at both left and right sides of the propeller clip 53; the left blade 51A and the right blade 51B are of an antisymmetric structure; wherein, the paddle clamp 53 is a strip-shaped component, the paddle clamp 53 is connected with a driving motor in the machine body 1 through a driving shaft 54, and the driving motor drives the paddle clamp 53 to rotate through the driving shaft 54; the left blade 51A is foldably installed at the left end of the blade holder 53 by a left blade folding mechanism 52A; the right blade 51B is foldably mounted to a right end of the blade clip 53 by a right blade folding mechanism 52B. Wherein, the left blade folding mechanism 52A and the right blade folding mechanism 52B are respectively realized by blade rotating shafts, and the blade rotating shafts are bearing components, so that the blades can freely rotate around the shaft. In the cylindrical state, the left blade 51A and the right blade 51B are folded and placed at the side of the tail part of the machine body 1 to meet space size constraint, and can be automatically unscrewed around respective blade rotating shafts under the driving of motor rotation after launching or air drop.
It should be emphasized that, for various folding mechanisms involved in the present application, including a middle wing folding mechanism, a left outer main wing folding mechanism, a right outer main wing folding mechanism, a left horizontal tail folding mechanism, a right horizontal tail folding mechanism, a vertical tail folding mechanism, a left blade folding mechanism and a right blade folding mechanism, any folding mechanism can be adopted in the prior art, so long as it can be realized that the relevant components can rotate around the machine body under the action of each folding mechanism, thereby realizing the folding of the relevant components.
(II) transmitting tube
Referring to fig. 4, the cartridge 6 includes a dust cap 61, a cartridge holder 62, a cartridge 63, a piston booster 64, a gas generator 65, and a cartridge base 66;
the head of the bullet 63 is provided with a dust cover 61, the dust cover 61 is a rubber plug cover, and dust and gravel enter the bullet 63 to influence the emission; the outer part of the bullet cylinder 63 is provided with a shooting cylinder bracket 62, and the shooting cylinder bracket 62 can be folded and unfolded so as to facilitate the individual soldier to carry; a launch tube base 66 is arranged at the tail of the launch tube 63; the gas generator 65 is arranged on the transmitting cylinder base 66; a piston boosting device 64 is arranged at the air outlet end of the gas generator 65; a folding wing unmanned aerial vehicle 7 is provided in front of the piston boosting device 64.
The firing inclination angle (included angle between the axis of the gun barrel and the horizontal plane) of the firing barrel 6 is about 60 degrees, and the device has the characteristics of simple structure, small weight, operability for individual soldiers and the like. The launching tube 6 pushes the piston boosting device 64 to pop up the folding wing unmanned aerial vehicle 7 at a high speed through high-pressure gas generated by fuel combustion in the gas generator 65, and the launching is completed.
The invention also provides a method for launching the barrel-type launching folding wing unmanned aerial vehicle, which comprises the following steps:
step 1, a folding wing unmanned aerial vehicle 7 is in a completely folded state and is placed in a transmitting cylinder 6;
wherein, folding wing unmanned aerial vehicle 7 is in complete folding state, means:
for the zigzag folding missile wing 2, the left outer main wing 24A is folded under the middle wing section 23 around the left outer main wing folding mechanism 22A, the right outer main wing 25A is folded under the middle wing section 23 around the right outer main wing folding mechanism 22B, and the middle wing section 23 is rotated under the fuselage 1 around the middle wing folding mechanism 21, at this time, the zigzag folding missile wing 2 is folded into a small straight wing with the length equivalent to the fuselage 1 and parallel to the axis of the fuselage 1;
for the left full-moving horizontal tail 3A and the right full-moving horizontal tail 3B, the left full-moving horizontal tail 3A is folded on a left cut Ping Xiemian of the machine body 1 through a left horizontal tail folding mechanism; the right full-moving horizontal tail 3B is folded on the right cut flat inclined surface 18 of the machine body 1 through a right horizontal tail folding mechanism 31;
For the full-motion vertical fin 4, the full-motion vertical fin 4 is folded on the vertical face 16 on the right side face of the machine body 1 through a vertical fin folding mechanism 41;
for the foldable propeller assembly 5, the left blade 51A thereof is folded on the left side surface of the tail of the fuselage 1 by the left blade folding mechanism 52A; the right blade 51B is folded on the right side surface of the tail part of the machine body 1 through a right blade folding mechanism 52B;
by the design of cutting the bottom of the machine body 1 into a flat shape, contracting the tail, cutting the upper surface of the tail into a Zuo Qieping inclined plane 17 and a right flat inclined plane 18, when the folding wing unmanned aerial vehicle 7 is in a fully folded state, the radial maximum size of the folding wing unmanned aerial vehicle 7 does not exceed the diameter of the transmitting barrel 6, and the length of the folding wing unmanned aerial vehicle does not exceed the length of the transmitting barrel 6, so that the folding wing unmanned aerial vehicle can be completely accommodated in the barrel of the transmitting barrel 6;
step 2, after the transmitting cylinder 6 with the folding wing unmanned aerial vehicle 7 placed on the back of the individual soldier arrives at a transmitting place, the transmitting cylinder 6 is installed according to a required transmitting angle;
step 3, starting a gas generator 65 of the launching tube 6, generating high-pressure gas by the gas generator 65, and ejecting the folding wing unmanned aerial vehicle 7 from the launching tube 6 through a piston boosting device 64;
step 4, after the folding wing unmanned aerial vehicle 7 pops up from the launching tube 6 and goes through a gradual unfolding modification process, climbing into a fully unfolded patrol task state, and completing the launching process;
Specifically, the axial direction of the machine body 1 is taken as an X axis, the Z axis is in the symmetrical plane of the Z-shaped folding missile wing 2 and is perpendicular to the X axis, and the direction perpendicular to the X-Z plane is taken as a Y axis;
when the folding wing unmanned aerial vehicle 7 is ejected from the launch canister 6, it is gradually unfolded from the folded state under the action of each folding mechanism until a fully unfolded state is formed, and the variant process is as follows:
for the zigzag folding missile wing 2, wherein the wing section 23 rotates clockwise in the XY plane through the middle wing folding mechanism 21, and simultaneously, the left outer main wing 24A rotates counterclockwise in the XY plane through the left outer main wing folding mechanism 22A, the right outer main wing 25A rotates counterclockwise in the XY plane through the right outer main wing folding mechanism 22B, after the middle state of the zigzag is formed by the left outer main wing 24A, the middle wing section 23 and the right outer main wing 25A, the middle wing section 23, the left outer main wing 24A and the right outer main wing 25A continue to rotate until the middle wing section 23 rotates to a position perpendicular to the fuselage 1, the left outer main wing 24A rotates to a position collinear with the middle wing section 23, and the right outer main wing 25A rotates to a position collinear with the middle wing section 23, at which time the zigzag folding missile wing 2 is unfolded to a large straight wing with a length of 2 times the fuselage 1 and perpendicular to the fuselage 1;
For the left full-motion horizontal tail 3A and the right full-motion horizontal tail 3B, the left full-motion horizontal tail 3A rotates counterclockwise in the XY plane by the left horizontal tail folding mechanism until the axis of the left full-motion horizontal tail 3A is perpendicular to the axis of the fuselage 1; meanwhile, the right full-motion horizontal tail 3B rotates clockwise in the XY plane by the right horizontal tail folding mechanism 31 until the axis of the right full-motion horizontal tail 3B is perpendicular to the axis of the body 1;
for the full motion vertical fin 4, the full motion vertical fin 4 rotates clockwise in the XZ plane by the vertical fin folding mechanism 41 until the axis of the full motion vertical fin 4 is perpendicular to the axis of the fuselage 1;
with the foldable propeller assembly 5, the left blade 51A is rotated counterclockwise in the XY plane by the left blade folding mechanism 52A, while the right blade 51B is rotated clockwise in the XY plane by the right blade folding mechanism 52B until the left blade 51A, the blade holder 53, and the right blade 51B form a straight shape.
In practical application, fig. 24 is a schematic view of a cylindrical launching application scene of the present invention, a folding wing unmanned aerial vehicle 7 can be placed in a launching cylinder 6, penetrated to a launching site by individual backpack penetration, the launching cylinder 6 is installed through simple operation, a gas generator 65 is started, and the folding wing unmanned aerial vehicle 7 is ejected from the launching cylinder 6 by high-pressure gas. The folding wing unmanned aerial vehicle 7 can rapidly pass through the folding mechanism after being ejected, finish the variant process from the barrel loading state to the flight patrol task state, climb into the flight patrol task state, and expand the tasks such as reconnaissance, searching, accurate striking and the like.
The folding wing unmanned aerial vehicle 7 can realize barrel-mounted emission by utilizing the emission barrel 6, and can realize air-drop emission by carrying on an aerial carrier platform. Fig. 25 is a schematic diagram of an air drop launching application scenario, in which the space occupied by the folding wing unmanned aerial vehicle 7 is very small in a folded state, a large number of carrying and transportation can be realized through an air carrying platform, and when the air carrying platform reaches a target throwing place, one or more folding wing unmanned aerial vehicles 7 can be released at a time to go to a task. The folding wing unmanned aerial vehicle 7 enters a patrol task state through the variants to form a single-frame multi-batch or cluster formation attack type so as to enhance the combat efficiency of the folding wing unmanned aerial vehicle 7 and better finish the tasks of reconnaissance, searching, accurate hitting and the like on the air-to-ground.
The folding wing unmanned aerial vehicle capable of barrel type launching and air drop provided by the invention controls the folding and unfolding of the missile wing and the control surface through the rotary folding mechanism, realizes the rapid switching between the barrel-mounted folding state and the patrol task state of the folding wing unmanned aerial vehicle, and has the characteristics of simple structure, light weight and strong engineering realizability. Meanwhile, the Z-shaped folding missile wing has the characteristics of small occupied space in a folded state, large wing area in an unfolded state, large aspect ratio and the like, so that the space utilization rate and the aerodynamic performance in a patrol task state are effectively improved.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which is also intended to be covered by the present invention.
Claims (7)
1. A barrel-type launch folding wing drone, comprising: a folding wing unmanned plane (7) and a transmitting cylinder (6); when in a barrel-mounted state, the folding wing unmanned aerial vehicle (7) is in a fully folded state and is arranged in the launching barrel (6); when the launching cylinder (6) launches the folding wing unmanned aerial vehicle (7), the folding wing unmanned aerial vehicle (7) is popped up from the launching cylinder (6), and after a gradual unfolding variant process, the folding wing unmanned aerial vehicle climbs to enter a fully unfolded patrol task state;
the folding wing unmanned aerial vehicle (7) comprises a body (1), a Z-shaped folding missile wing (2), a left full-moving horizontal tail (3A), a right full-moving horizontal tail (3B), a full-moving vertical tail (4) and a foldable propeller assembly (5);
the machine body (1) is of a cylindrical structure, and the bottom of the machine body (1) is cut flat to form a setting plane for placing the folded Z-shaped folding missile wing (2); the left side surface and the right side surface of the tail part of the machine body (1) are contracted to form a contraction section (15) similar to a truncated cone shape; the left side surface and the right side surface of the tail end of the contraction section (15) are setting surfaces for placing the folded foldable propeller assembly (5); the right side surface of the front end of the contraction section is cut flat to form a vertical surface (16) for placing the folded full-motion vertical fin (4); the upper surface of the contraction section (15) forms a left cut Ping Xiemian (17) and a right cut Ping Xiemian (18) which are bilaterally symmetrical, and the left cut Ping Xiemian (17) is used for placing the folded left full-motion horizontal tail (3A); the right cut Ping Xiemian (18) is used for placing the folded right full-motion horizontal tail (3B);
The Z-shaped folding missile wing (2) comprises a middle wing section (23), a left outer main wing (24A), a left outer aileron (24B), a right outer main wing (25A) and a right outer aileron (25B); the center of the middle wing section (23) is arranged at the center of the bottom of the machine body (1) in a folding way through a middle wing folding mechanism (21); the left side of the middle wing section (23) is provided with a left outer main wing (24A) in a folding way through a left outer main wing folding mechanism (22A); the right side of the middle wing section (23) is provided with the right outer main wing (25A) in a foldable way through a right outer main wing folding mechanism (22B); the left outer main wing (24A) and the right outer main wing (25A) are bilaterally symmetrical relative to the middle wing section (23); when the Z-shaped folding missile wing (2) is in a folding state, the Z-shaped folding missile wing (2) is folded into a small straight wing with the length identical to that of the fuselage (1) and parallel to the axis of the fuselage (1); when the Z-shaped folding missile wing (2) is in a flight patrol task state, the Z-shaped folding missile wing (2) is unfolded into a large straight wing which has the length of 2 times of the length of the fuselage (1) and is perpendicular to the fuselage (1);
the right outer main wing (25A) is provided with the right outer aileron (25B) in a region of 0.7-1 along the chord direction; one end of the right outer aileron (25B) is rotatably connected with the right outer main wing (25A) through a right outer main wing control surface rotating shaft (28); a right outer aileron deflection steering engine (26B) is arranged on the right outer main wing (25A), and the right outer aileron deflection steering engine (26B) is connected with the right outer aileron (25B) through a right outer aileron deflection steering engine driving connecting rod (27) so as to drive the right outer aileron (25B) to deflect around a right outer main wing control surface rotating shaft (28); the left outer main wing (24A) is provided with a deflectable left outer aileron (24B) and a left outer aileron deflection steering engine (26A) for driving the left outer aileron (24B) to deflect; the left outer aileron (24B) and the right outer aileron (25B) are bilaterally symmetrical relative to the central position of the Z-shaped folding missile wing (2);
The left full-moving horizontal tail (3A) is arranged above the left side of the tail of the machine body (1) in a folding way through a left horizontal tail folding mechanism; the right full-motion horizontal tail (3B) is arranged above the right side of the tail of the machine body (1) in a folding way through a right horizontal tail folding mechanism (31), and a certain dihedral angle exists between the left full-motion horizontal tail (3A) and the right full-motion horizontal tail (3B), so that the space utilization rate of a folded state in the cylinder is improved;
the full-motion vertical fin (4) is arranged behind the machine body (1) in a folding way through a vertical fin folding mechanism (41), and the full-motion vertical fin (4) is positioned in front of the right full-motion horizontal fin (3B); wherein the number of the all-movable vertical tails (4) is one or two; when one full-motion vertical fin (4) is arranged, the full-motion vertical fin (4) is positioned at the left side or the right side behind the machine body (1); when the two full-motion vertical tails (4) are arranged, the full-motion vertical tails (4) are respectively positioned at the left side and the right side of the rear of the machine body (1);
the foldable propeller assembly (5) is arranged in the middle of the rear end face of the machine body (1) and comprises a propeller clamp (53), and a left blade (51A) and a right blade (51B) which are symmetrically arranged on the left side and the right side of the propeller clamp (53); the left blade (51A) and the right blade (51B) are of an antisymmetric structure; the paddle clamp (53) is connected with a driving motor in the machine body (1) through a driving shaft (54), and the driving motor drives the paddle clamp (53) to rotate through the driving shaft (54); the left blade (51A) is arranged at the left end of the blade clamp (53) in a folding way through a left blade folding mechanism (52A); the right blade (51B) is arranged at the right end of the blade clamp (53) in a foldable way through a right blade folding mechanism (52B);
Wherein: the middle wing section (23) is a rectangular wing section with the length equal to the length of the fuselage (1); the middle wing folding mechanism (21) is a square rotating mechanism and comprises a middle wing driving spring (20A) and a middle wing mandrel (20B); the left outer main wing (24A) and the right outer main wing (25A) are rectangular wing segments arranged on the outer side of the bottom of the middle wing segment (23), the span length of the rectangular wing segments is half of the span length of the middle wing segment (23), and the chord length of the rectangular wing segments is smaller than the chord length of the middle wing segment (23).
2. The barrel-type launching folding wing unmanned aerial vehicle according to claim 1, wherein the fuselage (1) adopts a modularized design, and a load cabin (11), a power supply cabin (12), an inertial navigation cabin (13) and a power cabin (14) are sequentially arranged from the head to the tail; the load cabin (11) is used for carrying a guide head and a fight part to finish an accurate striking task, or carrying reconnaissance and communication equipment to finish reconnaissance and damage evaluation, air warning and communication relay tasks; the power supply cabin (12) is used for carrying energy supply equipment so as to provide required energy for the foldable propeller assembly (5) and electronic equipment in the load cabin (11); the inertial navigation cabin (13) is an inertial navigation device cabin and is provided with a gyroscope and an accelerometer device; the power pod (14) is arranged with a power device to drive the foldable propeller assembly (5).
3. A cartridge launch folding wing drone as claimed in claim 1 wherein the left outer main wing folding mechanism (22A) and the right outer main wing folding mechanism (22B) are circular rotary mechanisms.
4. The barrel-type launching folding wing unmanned aerial vehicle according to claim 1, wherein the left full-motion horizontal tail (3A) and the right full-motion horizontal tail (3B) are of a left-right symmetrical structure, and for the right full-motion horizontal tail (3B), the folding wing unmanned aerial vehicle comprises a right horizontal tail folding mechanism (31), a horizontal tail rotating shaft (32), a horizontal tail deflection steering engine (33), a horizontal tail control surface rotating shaft (34), a horizontal tail control surface (35) and a horizontal tail rotating limiter (36); the right horizontal tail folding mechanism (31) is connected with the machine body (1) through the horizontal tail rotating shaft (32) and is used for controlling the folding and unfolding of the right full-motion horizontal tail (3B); the horizontal tail rotation limiter (36) is used for controlling the rotation angle of the right full-motion horizontal tail (3B); the horizontal tail control surface (35) is connected with the horizontal tail deflection steering engine (33) through a horizontal tail control surface rotating shaft (34), the horizontal tail deflection steering engine (33) is arranged on the right horizontal tail folding mechanism (31), and the horizontal tail control surface (35) is controlled to deflect through the horizontal tail control surface rotating shaft (34).
5. The cartridge type launching folding wing unmanned aerial vehicle according to claim 1, wherein the all-moving vertical fin (4) comprises a vertical fin folding mechanism (41), a vertical fin rotating shaft (42), a vertical fin deflection steering engine (43), a vertical fin control surface rotating shaft (44), a vertical fin control surface (45) and a vertical fin rotating limiter (46); the vertical tail folding mechanism (41) is connected with the machine body (1) through the vertical tail rotating shaft (42) and is used for controlling the folding and unfolding of the full-motion vertical tail (4); the vertical tail deflection steering engine (43) is arranged on the vertical tail folding mechanism (41), and the deflection of the vertical tail control surface (45) is controlled through the vertical tail control surface rotating shaft (44); the vertical tail rotation limiter (46) is used for controlling the rotation angle of the full-motion vertical tail (4).
6. A cartridge launched folding wing drone according to claim 1, characterized in that the launch canister (6) comprises a dust cap (61), a launch canister bracket (62), a cartridge (63), a piston boosting device (64), a gas generator (65) and a launch canister base (66);
the head of the bullet cylinder (63) is provided with the dust cover (61); the exterior of the cartridge (63) is provided with the cartridge bracket (62); the tail part of the bullet cylinder (63) is provided with the launching cylinder base (66); the fuel gas generator (65) is arranged on the emission cylinder base (66); the gas outlet end of the gas generator (65) is provided with the piston boosting device (64); the front of the piston boosting device (64) is provided with the folding wing unmanned aerial vehicle (7).
7. A launch method of a barrel launched folding wing drone according to any one of claims 1 to 6, comprising the steps of:
step 1, a folding wing unmanned aerial vehicle (7) is in a completely folded state and is placed in a transmitting cylinder (6);
wherein, folding wing unmanned aerial vehicle (7) are in complete folding state, mean:
for the Z-shaped folding missile wing (2), a left outer main wing (24A) is folded to be right below a middle wing section (23) around a left outer main wing folding mechanism (22A), a right outer main wing (25A) is folded to be right below the middle wing section (23) around a right outer main wing folding mechanism (22B), the middle wing section (23) is rotated to be right below a fuselage (1) around a middle wing folding mechanism (21), and at the moment, the Z-shaped folding missile wing (2) is folded into a small straight wing with the length equivalent to the length of the fuselage (1) and parallel to the axis of the fuselage (1);
for a left full-moving horizontal tail (3A) and a right full-moving horizontal tail (3B), the left full-moving horizontal tail (3A) is folded on a left cut Ping Xiemian (17) of the machine body (1) through a left horizontal tail folding mechanism; the right full-moving horizontal tail (3B) is folded on a right cut Ping Xiemian (18) of the machine body (1) through a right horizontal tail folding mechanism (31);
for the full-motion vertical fin (4), the full-motion vertical fin (4) is folded on a vertical plane (16) on the right side surface of the machine body (1) through a vertical fin folding mechanism (41);
For the foldable propeller assembly (5), a left blade (51A) is folded on the left side surface of the tail of the airframe (1) through a left blade folding mechanism (52A); the right blade (51B) is folded on the right side surface of the tail part of the machine body (1) through a right blade folding mechanism (52B);
by means of the design that the bottom of the fuselage (1) is cut flat, the tail is contracted, the upper surface of the tail is cut into a Zuo Qieping inclined plane (17) and a right cut Ping Xiemian (18), when the folding wing unmanned aerial vehicle (7) is in a fully folded state, the radial maximum size of the folding wing unmanned aerial vehicle (7) does not exceed the diameter of the transmitting cylinder (6), and the length of the folding wing unmanned aerial vehicle does not exceed the length of the transmitting cylinder (6), so that the folding wing unmanned aerial vehicle can be completely contained in the cylinder of the transmitting cylinder (6);
step 2, after an individual soldier carries a transmitting cylinder (6) provided with the folding wing unmanned aerial vehicle (7) to a transmitting place, the transmitting cylinder (6) is installed according to a required transmitting angle;
step 3, starting a gas generator (65) of the launching tube (6), generating high-pressure gas by the gas generator (65), and ejecting the folding wing unmanned aerial vehicle (7) from the launching tube (6) through a piston boosting device (64);
step 4, after the folding wing unmanned aerial vehicle (7) pops up from the transmitting cylinder (6), the folding wing unmanned aerial vehicle climbs into a fully-unfolded patrol task state after a gradual unfolding modification process, and the transmitting process is completed;
Specifically, the axial direction of the machine body (1) is taken as an X axis, the Z axis is in the symmetrical plane of the Z-shaped folding missile wing (2), and is perpendicular to the X axis, and the direction perpendicular to the X-Z plane is taken as a Y axis;
after the folding wing unmanned aerial vehicle (7) is ejected from the transmitting barrel (6), the folding wing unmanned aerial vehicle is gradually unfolded from a folding state under the action of each folding mechanism until a fully unfolded state is formed, and the variant process is as follows:
for the Z-shaped folding missile wing (2), wherein the wing section (23) rotates clockwise in an XY plane through a middle wing folding mechanism (21), meanwhile, the left outer main wing (24A) rotates anticlockwise in the XY plane through a left outer main wing folding mechanism (22A), the right outer main wing (25A) rotates anticlockwise in the XY plane through a right outer main wing folding mechanism (22B), after the Z-shaped middle state is formed through the left outer main wing (24A), the middle wing section (23) and the right outer main wing (25A), the middle wing section (23), the left outer main wing (24A) and the right outer main wing (25A) continue to rotate until the middle wing section (23) rotates to a position vertical to the fuselage (1), the left outer main wing (24A) rotates to a position collinear with the middle wing section (23), and at the moment, the Z-shaped missile wing (2) expands to be a wing with a length which is 2 times longer than the length of the fuselage (1) and is vertical to the fuselage (1);
For the left full-motion horizontal tail (3A) and the right full-motion horizontal tail (3B), the left full-motion horizontal tail (3A) rotates anticlockwise in an XY plane through a left horizontal tail folding mechanism until the axis of the left full-motion horizontal tail (3A) is perpendicular to the axis of the machine body (1); simultaneously, the right full-motion horizontal tail (3B) rotates clockwise in an XY plane through a right horizontal tail folding mechanism (31) until the axis of the right full-motion horizontal tail (3B) is perpendicular to the axis of the machine body (1);
for the full-motion vertical fin (4), the full-motion vertical fin (4) rotates clockwise in an XZ plane through a vertical fin folding mechanism (41) until the axis of the full-motion vertical fin (4) is perpendicular to the axis of the machine body (1); for the foldable propeller assembly (5), the left blade (51A) is rotated counterclockwise in the XY plane by the left blade folding mechanism (52A), while the right blade (51B) is rotated clockwise in the XY plane by the right blade folding mechanism (52B) until the left blade (51A), the blade clamp (53) and the right blade (51B) form a straight shape.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811601135.8A CN109436296B (en) | 2018-12-26 | 2018-12-26 | Barrel-type launching folding wing unmanned aerial vehicle and launching method thereof |
| PCT/CN2018/124452 WO2020133089A1 (en) | 2018-12-26 | 2018-12-27 | Barrel-launched folding-wing unmanned aerial vehicle and launch method therefor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811601135.8A CN109436296B (en) | 2018-12-26 | 2018-12-26 | Barrel-type launching folding wing unmanned aerial vehicle and launching method thereof |
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| CN109436296A CN109436296A (en) | 2019-03-08 |
| CN109436296B true CN109436296B (en) | 2024-02-13 |
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