CN112623188A - Folding wing unmanned aerial vehicle wing expandes fast and automatic folding device - Google Patents
Folding wing unmanned aerial vehicle wing expandes fast and automatic folding device Download PDFInfo
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- CN112623188A CN112623188A CN202011516383.XA CN202011516383A CN112623188A CN 112623188 A CN112623188 A CN 112623188A CN 202011516383 A CN202011516383 A CN 202011516383A CN 112623188 A CN112623188 A CN 112623188A
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- wing
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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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Abstract
The invention discloses a device for rapidly unfolding and automatically folding wings of a folding wing unmanned aerial vehicle, which comprises folding wings, a pressure plate, a support, a wing driving assembly and a wing locking assembly, wherein the folding wings are arranged on the support; the pressure plate is connected with the support through a support column; the folding wings are in a pair and are positioned between the pressure plate and the support; the support is provided with a wing main shaft, one side of the end part of the folding wing is connected to the wing main shaft through a wing main shaft bearing in a shaft mode, the other side of the end part of the folding wing is in transmission connection with a wing driving assembly, and the folding wing is driven to rotate by the wing driving assembly by taking the wing main shaft bearing as a center, so that the folding wing is unfolded and folded; the wing locking assembly is arranged on the support and used for locking and limiting the folding wing. The device can realize that unmanned aerial vehicle's wing expandes fast and reliable locking, automatic unblock and wing are folding two major functions.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a device for rapidly unfolding and automatically folding wings of a folding wing unmanned aerial vehicle.
Background
At present, the small storage volume has become an important development trend of various aircrafts. The small storage volume requires that components such as wings and vertical tails of the aircraft that significantly occupy storage space must be miniaturized and folded to avoid occupying excessive loading space. By adopting the folding design of the wings, the vertical tails and other parts, the aircraft has the advantages of meeting the key design performance requirements of the aircraft, obviously reducing the storage size of the aircraft, facilitating the storage, transportation and launching of the launching boxes (barrels), and obviously improving the one-time carrying quantity of the aircraft of the carrying platform.
In addition, with the wide application of detection and training unmanned aerial vehicles, the safe and nondestructive recovery requirement of the unmanned aerial vehicles is increasingly strong. Due to the special structure of the folding wings, the folding wings and the actuating part of the folding wing aircraft have poor rigidity and strength, and are easy to damage in the recovery process. Therefore, the automatic folding function of the wings of the folding wing aircraft is significant.
Related patents in the field of research on the wing rapid unfolding and wing folding technologies of folding wing unmanned aerial vehicles are abundant, but research on the wing rapid unfolding and automatic unlocking and folding functions of folding wing unmanned aerial vehicles is less. Patent "an unmanned aerial vehicle wing intelligence folding device" (CN204310033U) has proposed one kind and has utilized electric putter + the hinge mechanism to carry out wing intelligence folding mechanism, and this mechanism mainly used unmanned aerial vehicle ground vanning is folding intelligently before the transportation, does not possess folding automatic expansion and reliable locking function and automatic unblock and folding function.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a device for rapidly unfolding and automatically folding wings of a folding wing unmanned aerial vehicle, which is used for realizing two functions of rapid unfolding and reliable locking, automatic unlocking and wing folding of the wings of the unmanned aerial vehicle.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a wing rapid unfolding and automatic folding device of a folding wing unmanned aerial vehicle comprises folding wings, a pressing plate, a support, a wing driving assembly and a wing locking assembly;
the pressure plate is connected with the support through a support column; the folding wings are in a pair and are positioned between the pressing plate and the support;
the support is provided with a wing main shaft, one side of the end part of the folding wing is connected to the wing main shaft through a wing main shaft bearing in a shaft mode, the other side of the end part of the folding wing is in transmission connection with a wing driving assembly, and the folding wing is driven to rotate by the wing driving assembly by taking the wing main shaft bearing as a center, so that the folding wing is unfolded and folded;
the wing locking assembly is arranged on the support and used for locking and limiting the folding wing.
Specifically, the wing driving assembly comprises a main actuator, a main actuator fixing frame, a push rod guider, a connecting rod and a sliding block;
the main actuator is fixed on the support through a main actuator fixing frame, the push rod is positioned at the output end of the main actuator and coaxially constrained with the main actuator, and the push rod is driven to do front-back telescopic motion through the main actuator; the push rod guider is fixed on the support, sleeved at the upper end of the push rod and used for axially guiding the push rod; the sliding block is fixed at the front end of the push rod and is driven by the push rod to slide back and forth on the support;
the connecting rods are in a pair, one ends of the connecting rods are respectively connected to the sliding blocks in a shaft mode, and the other ends of the connecting rods are respectively connected to the end portions of the folding wings in a shaft mode; the connecting rods are driven by the sliding blocks, and the corresponding folding wings are driven by the connecting rods to rotate by taking the wing main shaft bearing as a center, so that the unfolding and folding of the folding wings are realized.
Furthermore, a sliding block limiting stopper is arranged at the front end of the sliding block and fixed on the support for limiting the sliding block.
Specifically, an upper wing auxiliary support platform is arranged below the pressure plate, and a lower wing auxiliary support platform is correspondingly arranged above the support;
the wing locking assembly comprises a wing locking pin and a wing locking actuator; the wing locking actuator is arranged on the lower auxiliary support platform of the wing, the wing locking pin and the wing locking actuator are coaxially constrained, the wing locking pin is driven by the wing locking actuator to do up-and-down telescopic motion, and the wing locking pin can sequentially penetrate through the lower auxiliary support platform and the folded wing and then is clamped in the upper auxiliary support platform of the wing; the folding wing is provided with a pipe perforation corresponding to the wing locking pin.
Furthermore, a wing folding limiter is fixed at the front end below the pressure plate and is positioned between the folding wings on the two sides.
Preferably, a buffer pad is arranged on one side of the slide block limiter, which is close to the slide block.
Preferably, shock pads are arranged on the two sides of the wing folding limiting stopper and on the limiting surface in contact with the wing, so that the impact peak value between the folding limiting stopper and the folding moment of the folding wing can be reduced.
Specifically, the main actuator is a controlled linear displacement device such as an air cylinder, a hydraulic cylinder or an electric push rod. The wing locking actuator is a controlled linear displacement device such as an air cylinder, a hydraulic cylinder or an electric push rod.
Preferably, the inner side of the push rod guider is provided with a copper sleeve, so that the friction force between the push rod guider and an inner hole of the push rod guider can be reduced in the actuating process of the push rod.
Preferably, the top of the wing locking pin is hemispherical, so that the contact area between the wing locking pin and the folding wing can be reduced, the friction resistance of friction to the unfolding or folding process of the folding wing is favorably reduced, and the wing locking pin can be favorably and quickly inserted into the locking hole on the folding wing.
Preferably, the fixing hole on the slide block limiter is shaped like a kidney-shaped hole, so that the slide block limiter has certain position adjustment capability along the movement direction of the push rod.
Has the advantages that:
the wing rapid unfolding and automatic folding device of the folding wing unmanned aerial vehicle can realize the following two functions: in the takeoff stage of the unmanned aerial vehicle, the wings of the folding wing unmanned aerial vehicle are controlled to be rapidly unfolded, and the wings are automatically and reliably locked; in the unmanned aerial vehicle parachute opening and recovery stage, the wings of the folding wing unmanned aerial vehicle are controlled to be automatically unlocked and folded and retracted quickly, and damage to the wings at the moment of landing of the unmanned aerial vehicle can be effectively avoided.
Drawings
The foregoing and/or other advantages of the invention will become further apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Fig. 1 is a schematic diagram of the overall structure of the folding wing unmanned aerial vehicle wing rapid unfolding and automatic folding device and a wing folding limiter.
Fig. 2 is a schematic view of the internal structure and the wing locking assembly of the folding wing drone wing quick unfolding and automatic folding device.
Fig. 3 is a top view of the internal structure of the folding wing drone wing quick unfolding and automatic folding device.
Fig. 4 is a top view of the unmanned aerial vehicle in a wing folded state.
Fig. 5 is a view of the wing deployment state of the drone.
Wherein each reference numeral represents:
1 folding a wing; 2, pressing a plate; 3, a support; 4, supporting columns; 5, a wing main shaft; 6 wing main shaft bearings; 7 auxiliary supporting tables are arranged on the wings; 8 auxiliary supporting tables under the wings; 9 a main actuator; 10 main actuator fixing frame; 11 a push rod; 12 a push rod guide; 13 connecting rods; 14, a slide block; 15 slide block limiters; 16 a cushion pad; 17 wing locking pins; 18 wing lock actuators; 19 wing folding limiter.
Detailed Description
The invention will be better understood from the following examples.
The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the scope covered by the technical content disclosed in the invention without affecting the efficacy and the achievable purpose of the invention. In addition, the terms such as "upper", "lower", "front", "rear" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship thereof may be regarded as the scope of the present invention without substantial changes in the technical contents.
As shown in fig. 1, the device for rapidly unfolding and automatically folding wings of folding wing drone comprises a folding wing 1, a pressure plate 2, a support 3, a wing driving assembly and a wing locking assembly.
Wherein, the pressure plate 2 is connected with the support 3 through a support column 4; the folding wings 1 are a pair and are positioned between the pressure plate 2 and the support 3; the support 3 is provided with a wing spindle 5, one side of the end part of the folding wing 1 is coupled on the wing spindle 5 through a wing spindle bearing 6, the other side of the end part of the folding wing 1 is in transmission connection with a wing driving component, and the folding wing 1 is driven to rotate by the wing driving component by taking the wing spindle bearing 6 as the center, so that the folding wing 1 is unfolded and folded; the wing locking assembly is arranged on the support 3 and used for locking and limiting the folding wing 1.
The wing driving assembly comprises a main actuator 9, a main actuator fixing frame 10, a push rod 11, a push rod guider 12, a connecting rod 13 and a sliding block 14; the main actuator 9 is fixed on the support 3 through a main actuator fixing frame 10, the push rod 11 is positioned at the output end of the main actuator 9 and coaxially constrained with the main actuator 9, and the push rod 11 is driven to do front and back telescopic motion through the main actuator 9; the push rod guider 12 is fixed on the support 3, sleeved at the upper end of the push rod 11 and used for axially guiding the push rod 11; the sliding block 14 is fixed at the front end of the push rod 11, and the sliding block 14 is driven by the push rod 11 to slide back and forth on the support 3; one end of each connecting rod 13 is respectively connected to the corresponding sliding block 14 in a shaft mode, and the other end of each connecting rod is respectively connected to the end portion of the corresponding folding wing 1 in a shaft mode; the slide block 14 drives the connecting rod 13, and the connecting rod 13 drives the corresponding folding wing 1 to rotate by taking the wing main shaft bearing 6 as a center, so that the folding wing 1 is unfolded and folded.
The front end of the sliding block 14 is provided with a sliding block limiter 15, and the sliding block limiter 15 is fixed on the support 3 and used for limiting the sliding block 14.
An upper auxiliary supporting platform 7 of the wing is arranged below the pressure plate 2, and a lower auxiliary supporting platform 8 of the wing is correspondingly arranged above the support 3; the wing locking assembly comprises a wing locking pin 17 and a wing locking actuator 18; the wing locking actuator 18 is arranged on the lower auxiliary wing supporting table 8, the wing locking pin 17 and the wing locking actuator 18 are coaxially constrained, the wing locking pin 17 is driven by the wing locking actuator 18 to do up-and-down telescopic motion, and the wing locking pin can sequentially penetrate through the lower auxiliary wing supporting table 8 and the folded wing 1 and then is clamped in the upper auxiliary wing supporting table 7; the folding wing 1 is provided with a pipe perforation corresponding to the wing locking pin 17.
The front end below the pressure plate 2 is fixed with a wing folding limiter 19 which is positioned between the folding wings 1 on the two sides. Shock pads are arranged on the two sides of the wing folding limiting stopper 19 and on the limiting surface in contact with the wings, so that the impact peak value between the folding limiting stopper 19 and the folding moment of the folding wing 1 can be reduced. A buffer pad 16 is arranged on one side of the slide stopper 15 close to the slide 14.
The main actuator 9 and the wing lock actuator 18 are cylinder controlled linear displacement devices. The copper sleeve arranged on the inner side of the push rod guider 12 can reduce the friction between the push rod 11 and the inner hole of the push rod guider 12 in the actuating process. The top of the wing locking pin 17 is hemispherical, so that the contact area between the wing locking pin 17 and the folding wing 1 can be reduced, the friction resistance of friction to the unfolding or folding process of the folding wing 1 is favorably reduced, and the wing locking pin 17 can be favorably and quickly inserted into a locking hole on the folding wing 1. The fixing hole on the slide stopper 15 is shaped like a kidney-shaped hole, so that the slide stopper 15 has certain position adjustment capability along the movement direction of the push rod 11.
The unfolding working process of the folding wing comprises the following steps: the folding wings are initially in a folded state; an external controller sends out a wing rapid unfolding instruction, a main actuator 9 works rapidly, a push rod 11 extends outwards in an accelerated manner to push a slide block 14 to move in an accelerated manner, the slide block 14 simultaneously drives a connecting rod 13 to move, and the connecting rod 13 drives a folding wing to rotate outwards around a wing main shaft 5; meanwhile, the wing locking actuator 18 also works rapidly to push the wing locking pin 17 to extend out until the hemispherical head of the wing locking pin 17 is pushed to the wing surface of the folding wing; when the wing of the folding machine is unfolded to a certain angle, namely the sliding block 14 moves to a certain position, the sliding block 14 triggers the main actuator 9 to close the switch, the main actuator 9 is closed, the output of actuating power is stopped, and under the action of inertial load, the folding wing continues to rotate outwards and drives the sliding block 14 and the push rod 13 to continue to move outwards; when the slide 14 collides with the stopper cushion 16, the slide 14 is rapidly decelerated under the action of the stopper cushion 16 and continues to compress the cushion 16, and the slide 14 rapidly reduces the rotation angular speed of the folding wing through the connecting rod 13; when the folding wing rotates to a certain position, the locking hole on the folding wing is aligned to the wing locking pin 17, the wing locking pin 17 is rapidly inserted into the locking hole, and reliable locking after the folding wing is unfolded is achieved.
The automatic folding working process of the folding wing comprises the following steps: the folding wings are initially in an unfolding and locking state; the controller sends out an automatic wing folding instruction, and the wing locking actuator 18 rapidly withdraws the wing locking pin 17 from the locking hole to complete automatic folding wing unlocking; meanwhile, the main actuator 9 also starts to work, the push rod 11 is retracted inwards and drives the sliding block 14 to move inwards, and the sliding block 14 pulls the folding wing to rotate inwards around the wing spindle 5 through the connecting rod 13; when the inner edge of the folding wing hits the wing folding limiter 19, the rotating speed of the folding wing is rapidly reduced to zero under the action of the buffer cushion, the main actuator 9 stops working and locks the push rod 11, and automatic folding of the folding wing is realized.
The invention provides a thought and a method for a device for rapidly unfolding and automatically folding wings of a folding wing unmanned aerial vehicle, and a plurality of methods and ways for realizing the technical scheme are provided, the above description is only a preferred embodiment of the invention, and it should be noted that, for a person skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the invention, and the improvements and decorations should also be regarded as the protection scope of the invention. All the components not specified in the present embodiment can be realized by the prior art.
Claims (10)
1. A device for rapidly unfolding and automatically folding wings of a folding wing unmanned aerial vehicle is characterized by comprising folding wings (1), a pressing plate (2), a support (3), a wing driving assembly and a wing locking assembly;
the pressing plate (2) is connected with the support (3) through a support column (4); the folding wings (1) are a pair and are positioned between the pressure plate (2) and the support (3);
the wing main shaft (5) is arranged on the support (3), one side of the end part of the folding wing (1) is connected to the wing main shaft (5) through a wing main shaft bearing (6), the other side of the end part of the folding wing (1) is in transmission connection with a wing driving assembly, and the folding wing (1) is driven by the wing driving assembly to rotate by taking the wing main shaft bearing (6) as a center, so that the folding wing (1) is unfolded and folded;
the wing locking assembly is arranged on the support (3) and used for locking and limiting the folding wing (1).
2. The folding wing unmanned aerial vehicle wing rapid unfolding and automatic folding device according to claim 1, wherein the wing driving assembly comprises a main actuator (9), a main actuator fixing frame (10), a push rod (11), a push rod guider (12), a connecting rod (13) and a sliding block (14);
the main actuator (9) is fixed on the support (3) through a main actuator fixing frame (10), the push rod (11) is located at the output end of the main actuator (9) and coaxially constrained with the main actuator (9), and the push rod (11) is driven to do front and back telescopic motion through the main actuator (9); the push rod guider (12) is fixed on the support (3), sleeved at the upper end of the push rod (11) and used for axially guiding the push rod (11); the sliding block (14) is fixed at the front end of the push rod (11), and the sliding block (14) is driven by the push rod (11) to slide back and forth on the support (3);
one ends of the connecting rods (13) are respectively connected to the sliding blocks (14) in a shaft mode, and the other ends of the connecting rods are respectively connected to the end portions of the folding wings (1) in a shaft mode; the connecting rods (13) are driven by the sliding blocks (14), and the corresponding folding wings (1) are driven by the connecting rods (13) to rotate by taking the wing main shaft bearings (6) as centers, so that the folding wings (1) are unfolded and folded.
3. The folding wing unmanned aerial vehicle wing rapid unfolding and automatic folding device according to claim 2, wherein a slider stopper (15) is arranged at the front end of the slider (14), and the slider stopper (15) is fixed on the support (3) and used for limiting the slider (14).
4. The folding wing unmanned aerial vehicle wing rapid unfolding and automatic folding device according to claim 1, characterized in that an upper wing auxiliary support platform (7) is arranged below the pressure plate (2), and a lower wing auxiliary support platform (8) is correspondingly arranged above the support (3);
the wing locking assembly comprises a wing locking pin (17) and a wing locking actuator (18); the wing locking actuator (18) is arranged on the lower auxiliary wing supporting platform (8), the wing locking pin (17) and the wing locking actuator (18) are coaxially constrained, the wing locking pin (17) is driven to do up-and-down telescopic motion through the wing locking actuator (18), and can sequentially penetrate through the lower auxiliary wing supporting platform (8) and the folded wing (1) and then be clamped in the upper auxiliary wing supporting platform (7); the folding wing (1) is provided with a pipe perforation corresponding to the wing locking pin (17).
5. The folding wing drone wing fast unfolding and automatic folding device according to claim 1, characterised in that the front end below the pressure plate (2) is fixed with wing folding stops (19) located between the folding wings (1) on both sides.
6. The folding wing drone wing rapid unfolding and automatic folding device according to claim 3, characterised in that the side of the slider stopper (15) close to the slider (14) is provided with a cushion pad (16).
7. The folding wing unmanned aerial vehicle wing rapid unfolding and automatic folding device according to claim 5, wherein shock absorption pads are arranged on two sides of the wing folding limiter (19) and limiting surfaces in contact with the wing.
8. The folding wing drone wing rapid unfolding and automatic folding device according to claim 2, characterized in that the main actuator (9) is a cylinder, a hydraulic cylinder or an electric push rod.
9. The folding wing drone wing rapid unfolding and automatic folding device according to claim 2, characterised in that the wing locking actuator (18) is a cylinder, a hydraulic cylinder or an electric push rod.
10. The folding wing drone wing rapid unfolding and automatic folding device according to claim 2, characterised in that the push rod guide (12) is provided inside with a copper sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011516383.XA CN112623188A (en) | 2020-12-21 | 2020-12-21 | Folding wing unmanned aerial vehicle wing expandes fast and automatic folding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011516383.XA CN112623188A (en) | 2020-12-21 | 2020-12-21 | Folding wing unmanned aerial vehicle wing expandes fast and automatic folding device |
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| Publication Number | Publication Date |
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| CN112623188A true CN112623188A (en) | 2021-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011516383.XA Pending CN112623188A (en) | 2020-12-21 | 2020-12-21 | Folding wing unmanned aerial vehicle wing expandes fast and automatic folding device |
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| CN (1) | CN112623188A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113148107A (en) * | 2021-04-21 | 2021-07-23 | 重庆交通大学 | Rotary folding wing |
| CN113460286A (en) * | 2021-09-06 | 2021-10-01 | 西安羚控电子科技有限公司 | Wing folding and locking mechanism of flight device |
| CN114248906A (en) * | 2021-11-14 | 2022-03-29 | 北京工业大学 | Aircraft wing folding device |
-
2020
- 2020-12-21 CN CN202011516383.XA patent/CN112623188A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113148107A (en) * | 2021-04-21 | 2021-07-23 | 重庆交通大学 | Rotary folding wing |
| CN113460286A (en) * | 2021-09-06 | 2021-10-01 | 西安羚控电子科技有限公司 | Wing folding and locking mechanism of flight device |
| CN114248906A (en) * | 2021-11-14 | 2022-03-29 | 北京工业大学 | Aircraft wing folding device |
| CN114248906B (en) * | 2021-11-14 | 2022-06-21 | 北京工业大学 | Aircraft wing folding device |
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