CN112849391A - Unfolding-direction folding mechanism of variable wing of unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Unfolding-direction folding mechanism of variable wing of unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
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- CN112849391A CN112849391A CN202110347384.4A CN202110347384A CN112849391A CN 112849391 A CN112849391 A CN 112849391A CN 202110347384 A CN202110347384 A CN 202110347384A CN 112849391 A CN112849391 A CN 112849391A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 abstract description 14
- 230000008569 process Effects 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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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
Abstract
The invention discloses an unfolding-direction folding mechanism of a variant wing of an unmanned aerial vehicle and the unmanned aerial vehicle, the mechanism comprises a first sleeve, a second sleeve, a first gear ring, a second gear ring, an upper-layer planetary gear, a lower-layer planetary gear and a planet carrier, wherein the first sleeve and the second sleeve are respectively fixed relative to a folding wing and a fixed wing, the first sleeve and the second sleeve are coaxially arranged, the axial direction of the first sleeve and the axial direction of the folding wing are vertical to the unfolding direction of the folding wing, the first gear ring and the second gear ring are respectively embedded in the first sleeve and the second sleeve, the upper-layer planetary gear is meshed with the inner wall of the first gear ring, the lower-layer planetary gear is meshed with the inner wall of the second gear ring, the upper-layer planetary gear and the lower-layer planetary gear can perform planetary motion around the axial direction of the first sleeve, the planet carrier is vertical to the axial direction of the first sleeve, and the two layers of planetary. The invention can avoid the vibration phenomenon of parts, realize the stable and uniform unfolding process of the wings and ensure the position precision and the synchronism of the wings at two sides.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a unfolding and folding mechanism of a variable wing of an unmanned aerial vehicle and the unmanned aerial vehicle.
Background
The unmanned plane variant wing is characterized in that wings of an airplane are divided into two sections or multiple sections, each two sections of wings are hinged, one section of wings is used as a folding wing, the other section of wings is used as a fixed wing, and the folding wings can be folded or unfolded relative to the fixed wings. The variable wing has the advantages of reducing the volume and facilitating the transportation.
At present, the unmanned aerial vehicle variant wing mostly adopts the folding mechanism of passive mode such as connecting rod, spring, hinge, and adopts hydraulic drive mostly, and this kind of folding mechanism is structurally more complicated, and hydraulic system occupation space has a great, so only has some applications on large-scale aircraft. Even so, this kind of folding mechanism's drive unit's rotation stroke is less, the arm of force is short, require the driving piece to need great moment of torsion, just can make the wing rotate in shorter stroke, the arm of force between its actuating mechanism and the connecting rod is mostly changeable and the flight in-process is constantly influenced by aerodynamic, can lead to having inevitable part vibrations like this in wing expansion or folding in-process, and along with different moment changes thereupon of rotational position, the more close to ultimate folding position arm of force is littleer, output torque is bigger, the part vibrations are more violent, cause the wing can't expand completely, direct influence aircraft flight's stability, probably cause the flight accident. In addition, the hydraulic drive is inaccurate and incoherent in control, the rotating speed of unfolding or folding wings is not uniform, the movement is not smooth, and the wing unfolding to an accurate position and the synchronism of the wings on two sides are difficult to ensure.
Disclosure of Invention
The invention aims to provide an unfolding-direction folding mechanism of a variant wing of an unmanned aerial vehicle and the unmanned aerial vehicle, which can avoid the phenomenon of part vibration, realize stable and uniform unfolding process of the wing, and ensure the position accuracy and synchronism of the wings at two sides.
In order to solve the technical problems, the invention adopts a technical scheme that: the utility model provides an exhibition of unmanned aerial vehicle variant wing is to folding mechanism, the variant wing includes the stationary vane and with stationary vane looks articulated folding wing, the exhibition is to folding mechanism locates between stationary vane and the folding wing, including first sleeve, second sleeve, first ring gear, second ring gear, upper planet gear, lower floor's planet gear and planet carrier, first sleeve is stationary relative to the folding wing, the second sleeve is stationary relative to the stationary vane, first sleeve and the coaxial setting of second sleeve and axial and folding wing's exhibition are to perpendicular, first ring gear is inlayed in first sleeve, the second ring gear is inlayed in the second sleeve, upper planet gear and lower floor's planet gear are a plurality ofly, upper planet gear meshes with the inner wall of first ring gear mutually, lower floor's planet gear meshes with the inner wall of second ring gear mutually, upper planet gear and lower floor's planet gear can be planetary motion around the axial of first sleeve, the planet carrier is perpendicular to the axial direction of the first sleeve, and the upper-layer planetary gear and the lower-layer planetary gear are fixedly connected with the planet carrier in the axial direction.
Preferably, the outer diameter of the first sleeve is smaller than the inner diameter of the second sleeve.
Preferably, the first sleeve extends at least partially into the second sleeve.
Preferably, the number of the upper-layer planetary gears is the same as that of the lower-layer planetary gears, and the upper-layer planetary gears and the lower-layer planetary gears are coaxially arranged.
Preferably, the number of the upper-layer planetary gears and the lower-layer planetary gears is two.
Preferably, the unfolding-direction folding mechanism further comprises a motor fixing frame, the motor fixing frame is embedded in the second sleeve and located on one side, away from the first toothed ring, of the second toothed ring, and the motor fixing frame is used for fixedly mounting a motor and enabling an output shaft of the motor to be located in the axial direction of the first sleeve.
In order to solve the technical problem, the invention adopts another technical scheme that: the utility model provides a unmanned aerial vehicle, unmanned aerial vehicle has the variant wing, unmanned aerial vehicle includes motor and aforementioned any one's span-wise folding mechanism, the output shaft of motor is in first telescopic axial, and with planet carrier fixed connection.
Preferably, the first sleeve and the second sleeve have all been seted up along the circumference the mounting groove, be equipped with first mounting panel on the folding wing, be equipped with the second mounting panel on the stationary vane, first mounting panel passes through mounting groove and first sleeve fixed connection, the second mounting panel passes through mounting groove and second sleeve fixed connection.
Preferably, the fixed wing is further provided with a potentiometer, and the potentiometer is used for detecting the folding angle of the folding wing relative to the fixed wing.
Preferably, the potentiometer is a D-shaped hole potentiometer.
Different from the prior art, the invention has the beneficial effects that: drive the planet carrier through the motor and rotate, rethread two-layer planetary gear and first ring gear, move between the second ring gear, it is rotatory to drive the relative second sleeve of first sleeve, because transmission part is small in quantity, planetary gear works steadily, small in noise, can avoid appearing part vibrations phenomenon, it is steady to realize the wing expansion process, go on at the uniform velocity, because planetary gear belongs to the precision transmission, can guarantee the position precision and the synchronism of both sides wing, not only can satisfy unmanned aerial vehicle and deposit, the folding demand of wing when carrying, can also realize simultaneously that it is steady with the wing at the in-process of guaranteeing smooth flight at unmanned aerial vehicle, expand at the uniform velocity.
Drawings
Fig. 1 is a front sectional view of a deployment-wise folding mechanism of a variant wing of a drone according to an embodiment of the invention.
Fig. 2 is a right side view of a deployment-wise folding mechanism of a variant wing of a drone of an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a variant wing of a drone according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 3, in the present embodiment, the morphing wing includes a fixed wing 1 and a folding wing 2 hinged to the fixed wing 1, a spanwise folding mechanism 3 is disposed between the fixed wing 1 and the folding wing 2, and includes a first sleeve 31, a second sleeve 32, a first toothed ring 33, a second toothed ring 34, an upper planetary gear 35, a lower planetary gear 36, and a planet carrier 37, the first sleeve 31 is fixed relative to the folding wing 2, the second sleeve 32 is fixed relative to the fixed wing 1, the first sleeve 31 and the second sleeve 32 are coaxially disposed and axially perpendicular to the spanwise direction of the folding wing 2, the first toothed ring 33 is embedded in the first sleeve 31, the second toothed ring 34 is embedded in the second sleeve 32, the upper planetary gear 35 and the lower planetary gear 36 are plural, the upper planetary gear 35 is engaged with an inner wall of the first toothed ring 33, the lower planetary gear 36 is engaged with an inner wall of the second toothed ring 34, the upper-layer planetary gear 35 and the lower-layer planetary gear 36 can perform planetary motion around the axial direction of the first sleeve 31, the planet carrier 37 is perpendicular to the axial direction of the first sleeve 31, and the upper-layer planetary gear 35 and the lower-layer planetary gear 36 are fixedly connected with the planet carrier 37 in the axial direction.
The planet carrier 37 is used as a power connection part for connecting an external driving device, such as a motor, and can rotate under the driving of the driving device. When the carrier 37 rotates, the second ring gear 34 is fixed, and the lower planetary gears 36 rotate and perform planetary motion with respect to the second sleeve 32. Because the upper planetary gear 35 and the lower planetary gear 36 are fixedly connected, the lower planetary gear 36 drives the upper planetary gear 35 to do planetary motion, so as to drive the first gear ring 33 to rotate, the first gear ring 33 is connected with the first sleeve 31, the first sleeve 31 is fixed relative to the folding wing 2, and then the folding wing 2 is driven to rotate in the unfolding direction relative to the fixed wing 1.
In the exhibition is to folding mechanism 3, because rely on planetary gear transmission power, transmission part quantity has reduced a lot for prior art, and planetary gear work is steady, small in noise, consequently, can avoid appearing the part vibrations phenomenon, it is steady to realize wing expansion process, go on at the uniform velocity, and because planetary gear belongs to the precision drive, can guarantee the position precision and the synchronism of both sides wing, not only can satisfy unmanned aerial vehicle and deposit, the folding demand of wing when carrying, simultaneously can also realize at unmanned aerial vehicle at the in-process of guaranteeing smooth flight steadily the wing steady, at the uniform velocity expansion.
In this embodiment, the outer diameter of the first sleeve 31 is smaller than the inner diameter of the second sleeve 32, and the first sleeve 31 extends at least partially into the second sleeve 32. Therefore, the leakage of parts can be avoided, the sealing can be conveniently carried out, and the influence of dust and aerodynamic force is avoided.
The number of the upper planetary gears 35 and the lower planetary gears 36 can be selected according to the inner diameters of the first ring gear 33 and the second ring gear 34 and the diameters of the planetary gears, and in the embodiment, the number of the upper planetary gears 35 and the lower planetary gears 36 is the same and are coaxially arranged. For example, the upper planetary gear 35 and the lower planetary gear 36 are both two.
In order to facilitate the installation of the driving device, the unfolding mechanism 3 further includes a motor fixing frame 38, and the motor fixing frame 38 is embedded in the second sleeve 32 and located on a side of the second gear ring 34 away from the first gear ring 33. The motor holder 38 is used for fixedly mounting the motor 4, and making the output shaft of the motor 4 in the axial direction of the first sleeve 31.
The invention also protects an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a variant wing, the structure of the variant wing is as shown in fig. 3, the unmanned aerial vehicle comprises a motor 4 and the unfolding-direction folding mechanism 3 of the embodiment, the motor 4 is fixedly installed on a motor fixing frame 38, and an output shaft of the motor 4 is positioned in the axial direction of the first sleeve and is fixedly connected with a planet carrier 38.
In this embodiment, the first sleeve 31 and the second sleeve 32 are both provided with mounting grooves (not shown) along the circumference, the folding wing 2 is provided with a first mounting plate 21, the fixed wing 1 is provided with a second mounting plate 11, the first mounting plate 21 is fixedly connected with the first sleeve 31 through the mounting grooves, and the second mounting plate 11 is fixedly connected with the second sleeve 32 through the mounting grooves.
In order to optimize the synchronism of the rotation changes of the wings on the two sides of the unmanned aerial vehicle and detect the angle changes of the wings in real time for accurate control, in this embodiment, the fixed wing 1 is further provided with a potentiometer 12, and the potentiometer 12 is used for detecting the folding angle of the folding wing 2 relative to the fixed wing 1. The potentiometer 12 may be fixedly mounted on the stationary vane 1. The potentiometer 12 may be a D-type hole potentiometer.
In this way, the unfolding folding mechanism of the variant wing of the unmanned aerial vehicle and the unmanned aerial vehicle drive the planet carrier to rotate through the motor, and then the first sleeve is driven to rotate relative to the second sleeve through the motion between the two layers of planetary gears and the first gear ring and the second gear ring.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. The unfolding-direction folding mechanism of the variant wing of the unmanned aerial vehicle comprises a fixed wing and a folding wing hinged with the fixed wing, and is characterized in that the unfolding-direction folding mechanism is arranged between the fixed wing and the folding wing and comprises a first sleeve, a second sleeve, a first toothed ring, a second toothed ring, an upper-layer planetary gear, a lower-layer planetary gear and a planet carrier, wherein the first sleeve is fixed and fixed relative to the folding wing, the second sleeve is fixed and fixed relative to the fixed wing, the first sleeve and the second sleeve are coaxially arranged, the axial direction of the first sleeve is vertical to the unfolding direction of the folding wing, the first toothed ring is embedded in the first sleeve, the second toothed ring is embedded in the second sleeve, the upper-layer planetary gear and the lower-layer planetary gear are multiple, the upper-layer planetary gear is meshed with the inner wall of the first toothed ring, the lower-layer planetary gear is meshed with the inner wall of the second toothed ring, planetary motion can be done around first telescopic axial to upper planet gear and lower floor's planet gear, the first telescopic axial setting of planet carrier perpendicular to, upper planet gear and lower floor's planet gear all link firmly with the planet carrier in the axial.
2. The deployment mechanism of claim 1, wherein an outer diameter of the first sleeve is smaller than an inner diameter of the second sleeve.
3. The deployment mechanism of claim 2, wherein the first sleeve extends at least partially into the second sleeve.
4. The deployment-oriented folding mechanism of claim 1, wherein the upper planetary gears and the lower planetary gears are the same in number and are coaxially arranged.
5. The deployment-oriented folding mechanism of claim 4, wherein there are two upper planetary gears and two lower planetary gears.
6. The unfolding mechanism according to any one of claims 1 to 5, further comprising a motor fixing frame, wherein the motor fixing frame is embedded in the second sleeve and located on a side of the second gear ring away from the first gear ring, and the motor fixing frame is used for fixedly mounting the motor and enabling the output shaft of the motor to be located in the axial direction of the first sleeve.
7. An unmanned aerial vehicle, the unmanned aerial vehicle has variant wing, characterized in that, the unmanned aerial vehicle includes motor and the exhibition of any one of claims 1 to 6 is to folding mechanism, the motor fixed mounting is on the motor mount, the output shaft of motor is in the axial of first sleeve, and with planet carrier fixed connection.
8. The unmanned aerial vehicle of claim 7, wherein the first sleeve and the second sleeve are circumferentially provided with mounting grooves, the folding wings are provided with first mounting plates, the fixed wings are provided with second mounting plates, the first mounting plates are fixedly connected with the first sleeve through the mounting grooves, and the second mounting plates are fixedly connected with the second sleeve through the mounting grooves.
9. The unmanned aerial vehicle of claim 7, wherein the fixed wing is further provided with a potentiometer, and the potentiometer is used for detecting the folding angle of the folding wing relative to the fixed wing.
10. The drone of claim 9, wherein the potentiometer is a D-hole potentiometer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110347384.4A CN112849391A (en) | 2021-03-31 | 2021-03-31 | Unfolding-direction folding mechanism of variable wing of unmanned aerial vehicle and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110347384.4A CN112849391A (en) | 2021-03-31 | 2021-03-31 | Unfolding-direction folding mechanism of variable wing of unmanned aerial vehicle and unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN112849391A true CN112849391A (en) | 2021-05-28 |
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| CN202110347384.4A Pending CN112849391A (en) | 2021-03-31 | 2021-03-31 | Unfolding-direction folding mechanism of variable wing of unmanned aerial vehicle and unmanned aerial vehicle |
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| CN112109878A (en) * | 2020-08-23 | 2020-12-22 | 北京航空航天大学 | Folding mechanism suitable for folding morphing wing |
| CN112193404A (en) * | 2020-10-13 | 2021-01-08 | 上海海事大学 | Z-shaped folding wing variable aircraft |
| US20210047022A1 (en) * | 2019-08-13 | 2021-02-18 | Bell Textron, Inc. | Tilting wing rotorcrafts and wing rotation systems |
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2021
- 2021-03-31 CN CN202110347384.4A patent/CN112849391A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1057032A (en) * | 1962-11-26 | 1967-02-01 | Vaino Alexander Hoover | Mechanical actuator |
| US6260799B1 (en) * | 2000-04-24 | 2001-07-17 | Hamilton Sunstrand Corporation | Aircraft wing fold actuation system |
| JP2005016695A (en) * | 2003-06-30 | 2005-01-20 | Hirokazu Tanaka | Reduction gear |
| CN102730186A (en) * | 2011-03-31 | 2012-10-17 | 通用电气航空系统有限公司 | Rotary actuator and method of operation with failsafe mechanism |
| US20160319910A1 (en) * | 2013-12-19 | 2016-11-03 | Sagem Defense Securite | Device with two interlocked gear trains |
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Application publication date: 20210528 |
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