CN115158670A

CN115158670A - Folding wing unmanned aerial vehicle and carrier buffer separation control method

Info

Publication number: CN115158670A
Application number: CN202210936021.9A
Authority: CN
Inventors: 张莹; 孙友彬; 赵志孝; 张科; 马琪; 沈洋; 严飞
Original assignee: Xian Lingkong Electronic Technology Co Ltd
Current assignee: Xian Lingkong Electronic Technology Co Ltd
Priority date: 2022-08-05
Filing date: 2022-08-05
Publication date: 2022-10-11

Abstract

The invention relates to a buffer separation control method for a folding wing unmanned aerial vehicle and a carrier, belongs to the technical field of unmanned aerial vehicles, and solves the technical problems that the folding wing unmanned aerial vehicle is easy to deform in the separation process of the folding wing unmanned aerial vehicle and the carrier, the separation process is not smooth, and the folding wing unmanned aerial vehicle cannot be directly reused after separation. The method comprises the steps of preparing an aircraft carrier, flying the aircraft carrier integrally, opening an umbrella after separating an umbrella cabin cover to reduce the speed, separating the carrier from a folding wing unmanned aerial vehicle, unfolding a front wing and a rear wing of the folding wing unmanned aerial vehicle, unfolding a vertical wing of the folding wing unmanned aerial vehicle, separating the umbrella cabin, and controlling the folding wing unmanned aerial vehicle to enter cruise flight. The folding wing unmanned aerial vehicle and carrier buffer separation control method realizes flexible installation and rapid separation of the folding wing unmanned aerial vehicle and the carrier, optimizes wing unfolding and the separation process of the folding wing unmanned aerial vehicle and the carrier, and has the advantages of high control flow integration level, small deformation of the folding wing unmanned aerial vehicle and easy reutilization.

Description

Folding wing unmanned aerial vehicle and carrier buffer separation control method

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a buffer separation control method for a folding wing unmanned aerial vehicle and a carrier.

Background

In recent years, the folding wing unmanned aerial vehicle is widely applied to various industries and fields, the technology of the folding wing unmanned aerial vehicle is mature day by day, and the application development in the military field is particularly rapid.

Folding wing drones in the carrier vehicle differ from conventional drones. Compare with conventional fixed wing folding wing unmanned aerial vehicle, folding wing unmanned aerial vehicle in the carrier has a great deal of advantage, for example: the unmanned aerial vehicle has the advantages of small volume, light weight, convenience in transportation and carrying, diversity of launching platforms, and particularly the folding wing unmanned aerial vehicle in the barrel type carrier. However, to achieve these technical advantages, the structural requirements of folding wing drones in the carrier vehicle are very high, in particular the buffer separation structure. Folding wing unmanned aerial vehicle in the carrier vehicle except that require folding wing unmanned aerial vehicle in the carrier firm installation, can integrative safety, fly to the target area steadily, more need the separating mechanism can cushion the transmission with the effort of separation under harsh mechanical environment, avoid separating the effort and cause folding wing unmanned aerial vehicle to produce great deformation in the carrier vehicle, lead to the kayser, inconvenient unable separation even, still need folding wing unmanned aerial vehicle break away from the expansion through the wing under the space of closing on behind the carrier vehicle, the adjustment flight characteristic. The buffer separation control of the folding wing unmanned aerial vehicle in the carrier ensures that the folding wing unmanned aerial vehicle and the folding wing unmanned aerial vehicle are in good flying state and have good flying characteristics in the near space.

To achieve the above object, it is necessary to reconsider the buffering and separation flow control of the folding wing drone in the current carrier of the carrier, to safely and stably separate the carrier from the folding wing drone at a predetermined time and to implement the recycling of the folding wing drone.

Disclosure of Invention

In view of the above analysis, the present invention aims to provide a method for controlling the buffering and separating of a folding wing drone and a carrier, so as to solve the technical problems that the integral flight performance of the carrier of the existing carrier needs to be improved, the separation process cannot meet the requirement of safely, quickly and stably separating the carrier from the folding wing drone, and the recovered folding wing drone cannot be directly reused.

The invention is realized by the following technical scheme:

a folding wing unmanned aerial vehicle and carrier buffer separation control method is used for controlling the process that the folding wing unmanned aerial vehicle flies from an integrated state of a carrier to a state of escaping from the carrier and entering a cruising flight state; the folding wing unmanned aerial vehicle and carrier buffer separation control method comprises the following steps:

s1, preparing an air carrier, and enabling the air carrier to enter an integrated flight state under the protection of a buffer component;

s2, controlling the separation of the umbrella cabin cover, opening the umbrella and reducing the speed through the separation assembly;

s3, controlling the folding wing unmanned aerial vehicle to be separated from the carrier through a separation component;

s4, controlling wings of the folding wing unmanned aerial vehicle to unfold;

s5, controlling the separation of the umbrella cabin through the separation assembly;

and S6, the flight control machine controls the folding wing unmanned aerial vehicle to enter a cruising flight state.

Further, S1 comprises installing a buffer component, installing a folding wing unmanned plane (4) and installing a separation component in the carrier.

Further, the step of installing the buffering assembly in the S1 comprises the steps of connecting the load cabin and the inner layer of the load cabin through a radial fixing unit, connecting the inner layer of the load cabin and the folding wing unmanned aerial vehicle through a flexible adapter, and connecting the folding wing unmanned aerial vehicle and the umbrella cabin through a hollow shaft.

Furthermore, the step of installing the separating assembly in the S1 comprises the steps of connecting the canopy cover and the canopy through the canopy cover separating unit, connecting the canopy and the control cabin through the carrier separating unit, and connecting the canopy and the folding wing unmanned aerial vehicle through the canopy separating unit.

Further, the canopy separation process in the step S2 includes the steps of detonating the first explosion fastener in the canopy separation unit, dropping off the fixing hook of the canopy separation unit, and separating the canopy from the canopy.

Further, the separation of the folding wing unmanned aerial vehicle from the carrier in S3 includes the steps of detonating a third explosive fastener of the separation unit, causing the folding wing unmanned aerial vehicle to lose the axial limit of the control cabin, and separating from the carrier; wherein the umbrella cabin is connected with the flange plate through a second explosion fastener.

Further, the step of unfolding wings of the folding wing drone in S4 includes:

s41, controlling the front wing and the rear wing of the folding wing unmanned aerial vehicle to be spread through a spreading and folding device;

s42, controlling the vertical wing of the folding wing unmanned aerial vehicle to unfold through the vertical wing rotating assembly.

Further, S41 includes a step of starting 2 unfolding devices of the folding wing drone, and the 2 unfolding devices respectively drive the respective left wing and right wing of the front wing and the rear wing to unfold from the folding wing drone body to both sides. Wherein, 2 the exhibition is received the device and is connected the both ends of folding wing unmanned aerial vehicle fuselage.

Further, S42 comprises the step of starting the vertical wing rotating assembly, and enabling the vertical wings to rotate upwards in the same direction from two sides of the folding wing unmanned aerial vehicle body to be perpendicular to the folding wing unmanned aerial vehicle body. Wherein, the vertical wing rotating component is connected at the unfolding and folding device rear part of folding wing unmanned aerial vehicle fuselage rear end.

Further, S5 comprises a step of detonating a second explosion fastener in the parachute bay separation unit and separating the parachute bay from the folding wing unmanned aerial vehicle.

Compared with the prior art, the invention can realize at least one of the following beneficial effects:

1. the carrier preparation step of the present invention includes a step of installing a folding wing drone into a carrier through a buffer assembly and a separation assembly; the buffer assembly can realize flexible installation and minimum limit of the folding wing unmanned aerial vehicle in a carrier, so that the separation assembly is simple in structure, the folding wing unmanned aerial vehicle is small in deformation and easy to separate; the separation subassembly accessible is simple accurate fastening bolt explosion order and is accomplished 3 group separation steps, and the process is compact, does not harm carrier and folding wing unmanned aerial vehicle, satisfies the requirement that folding wing unmanned aerial vehicle directly recycled.

2. The separation control of the folding wing unmanned aerial vehicle and the carrier uses different forms of explosive bolts, and comprehensively optimizes the wing unfolding process and the separation flow of the folding wing unmanned aerial vehicle, so that the separation process of the folding wing unmanned aerial vehicle and the carrier and the optimization of the flight characteristics of the folding wing unmanned aerial vehicle in the near space are organically unified.

3. The folding wing unmanned aerial vehicle and the carrier are high in separation control process integration level, simple in structure, small in size, simple to assemble and easy to replace.

In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.

Fig. 1 is a flow chart of a method for controlling the buffer separation of a folding-wing drone and a carrier according to the present invention;

FIG. 2 is a perspective view of the buffering and separating device of the present invention;

FIG. 3 is an enlarged view of a portion A of FIG. 2;

FIG. 4 is a schematic cross-sectional axial view of the structure of FIG. 3;

figure 5 is a cross-sectional view of figure 2 taken in cross section B-B;

FIG. 6 is a schematic view of the canopy structure of the present invention;

FIG. 7 is a schematic view of an installation structure of the canopy of the present invention;

FIG. 8 is a schematic view of the mounting of the inner layer of the load compartment of the present invention to a folding wing drone via a flexible adapter;

FIG. 9 is a partial schematic view of the inner layer structure of the load compartment of the present invention;

FIG. 10 is a schematic view of the radial fixing unit structure and installation of the present invention;

FIG. 11 is a schematic view of the mounting structure of the shaft and flange of the present invention;

FIG. 12 is a schematic view of the hollow shaft structure of the present invention;

FIG. 13 is an axial cross-sectional view of the leaf spring mounting structure of the present invention;

FIG. 14 is a perspective view of the leaf spring mounting structure of the present invention;

FIG. 15 is a perspective view of the leaf spring position of the present invention;

fig. 16 is a schematic view of a folding-wing drone according to the present invention in a folded state;

FIG. 17 is a schematic view of the unfolding and folding device of the present invention;

FIG. 18 is a schematic view of a mounting structure for a vertical wing rotating assembly of the present invention.

Reference numerals are as follows:

1. a carrier head; 2. a load compartment; 3, controlling the cabin; 4. folding wing drones; 41. a front wing; 42. a rear wing; 43. a vertical wing; 44. a unfolding and folding device; 441. a power component is unfolded and folded; 442. a slideway; 443. a carriage; 444. a drawbar assembly; 45. a vertical wing rotating assembly; 451. a vertical wing motor; 452. a vertical wing transmission pair; 5. a plate spring; 6. a load compartment inner layer; 7. a radial fixing unit; 71. a radial fixing portion; 72. a radial insertion part; 73. a radially flexible body; 8. a motor; 91. a first explosive fastener; 92. a second explosive fastener; 93. a third explosive fastener; 10. an umbrella cabin; 11. a flange plate; 12. a hollow shaft; 13, unmanned aerial vehicle tail frame; 14. a front frame; 141. a front frame slot; 15. a flexible adapter; 16. a limiting block; an umbrella canopy; 18. the umbrella cabin cover is fixed with the hook; 19. an umbrella cabin groove.

Detailed Description

The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.

The technical solution of the present invention is described in more detail below with reference to fig. 1 to 18:

as shown in fig. 1, the present invention specifically relates to a method for controlling the buffer separation between a folding-wing drone and a carrier. The purpose is through flexible mounting and flight control machine control, with folding wing unmanned aerial vehicle 4 stable installation in the carrier to make folding wing unmanned aerial vehicle 4 from folding wing unmanned aerial vehicle 4 and the integrative flight state of carrier to deviating from the carrier, get into the flight state that cruises.

The invention discloses a folding wing unmanned aerial vehicle and carrier buffer separation control method, which comprises the following specific steps:

s1, preparing an airborne carrier, and throwing the carrier to enable the carrier to enter an integrated flying state under the protection of a buffer component.

Before the carrier enters a flight state, the carrier needs to be reasonably installed according to the structural characteristics of the buffer assembly and the separation assembly. The steps of the installation are as follows

A folding device 44 and a vertical wing rotating assembly 45 are arranged on a truss of the folding wing unmanned aerial vehicle 4; installing a flight control machine, a skin and the like of the folding wing unmanned aerial vehicle 4 around the truss to form a fuselage with an open tail; the front wing 41, the rear wing 42 and the hanging wing 43 are mounted on the body.

Mounting a limiting block 16 and a plate spring 5 on the side wall of the body of a folding wing unmanned aerial vehicle 4, and mounting a motor 8 and a hollow shaft 12 on a tail frame 13 of the unmanned aerial vehicle; the unmanned plane tail frame 13 is installed at the tail part of the folding wing unmanned plane 4.

The load compartment inner layer 6 is connected to the load compartment 2 by means of radial fixing units 7.

The folding wing unmanned aerial vehicle 4 is pushed into the load cabin inner layer 6 and limited with the load cabin inner layer 6 through the flexible adapter 15.

The middle part of the flange plate 11 is connected with the folding wing unmanned aerial vehicle 4 through a hollow shaft 12.

The inner circle of the first end of the umbrella cabin 10 is connected with the flange plate 11 through a second explosion fastener 92, and the second explosion fastener 92 is used for separating the umbrella cabin.

The outer circle of the first end of the umbrella cabin 10 is connected with the control cabin 3 through a third explosion fastener 93; a third explosive fastener 93 is used to separate the folding wing drone 4 from the carrier.

The second end of the umbrella chamber 10 is connected with the umbrella chamber cover 17 through a first explosion fastener 91 and an umbrella chamber cover fixing hook 18; the first explosive fastener 91 is used for separation of the canopy from the carrier for parachute opening and speed reduction. The first explosive fastener 91 is preferably a top explosive bolt.

And finishing the installation of the carrier, and finishing the preparation work of the carrier. And throwing the carrier of the carrier machine to enable the carrier machine to enter an integrated flying state under the protection of the buffer assembly.

And S2, controlling the parachute hatch cover 17 to separate, parachute-open and reduce the speed through the separating assembly.

After the flight control machine sends an parachute opening instruction, the top explosion bolt of the first explosion fastener 91 explodes to generate explosive force, the bolt is connected to the first explosion fastener 91 in a screwed mode and is pushed out by a screw for fixing the parachute bay cover 17 to the parachute bay 10, the parachute bay cover 17 is pushed at one side to cause the parachute bay cover 17 to rotate by taking the parachute bay cover fixing hook 18 as a hinged point, the parachute bay cover fixing hook 18 rotates immediately and is separated from the parachute bay groove 19, the parachute bay cover fixing hook 18 falls off, the other side of the parachute bay cover 17 is also separated from the limit position, and therefore the whole parachute bay cover 17 is separated from the parachute bay 10, the folding wing unmanned aerial vehicle 4 is separated from the parachute and is opened, and the purpose of parachute opening is achieved.

After the parachute is opened, the carrier flies and slows down, and the parachute of the opened folding wing unmanned aerial vehicle 4 generates force for dragging the folding wing unmanned aerial vehicle 4. At this point, the drone tail frame 13 is still fixed to the frame of the control pod 3 of the carrier, and the folding wing drone 4 is still restrained within the load-bay inner layer 6.

S3, the folding wing unmanned aerial vehicle 4 is controlled to be separated from the carrier through the separating component.

After flight control machine sent folding wing unmanned aerial vehicle 4 and carrier separation instruction, the detonation fracture of second explosion fastener 92, folding wing unmanned aerial vehicle 4 is only relieved at the axial positioning of unmanned aerial vehicle tail frame 13 department, under the protection of folding wing unmanned aerial vehicle 4 outer wall mounted's leaf spring 5, folding wing unmanned aerial vehicle 4 umbrella drags folding wing unmanned aerial vehicle 4, folding wing unmanned aerial vehicle 4 pulls out load cabin inlayer 6 rapidly, the separation of taking umbrella folding wing unmanned aerial vehicle 4 and carrier has been realized.

And S4, controlling the folding wing unmanned aerial vehicle 4 to unfold.

S41, controlling the front wing 41 and the rear wing 42 of the folding wing unmanned aerial vehicle 4 to unfold through the unfolding and folding device 44;

after the folding wing unmanned aerial vehicle 4 is separated from the carrier, the flight control machine synchronously starts 2 unfolding and folding motors in the front wing 41 and the rear wing 42; the left wing and the right wing of the front wing 41 driven by the unfolding and folding motor of the front unfolding and folding device 44 oppositely rotate around the hinged shaft above the head of the folding wing unmanned aerial vehicle 4 in the opposite directions, and unfold relative to the body; the left wing and the right wing of the rear wing 42 driven by the unfolding and folding motor of the rear unfolding and folding device 44 rotate oppositely around the hinged shaft below the tail of the folding wing unmanned aerial vehicle 4 in the opposite directions, and unfold relative to the fuselage.

In this embodiment, the unfolding/folding device 44 is provided with an unfolding/folding proximity switch capable of sending out an on/off signal, and the unfolding/folding proximity switch is installed at a limit position set by the slide way stop or limit plate; when the left wing and the right wing reach the position of the maximum unfolding and folding angle, the ground/opening signal of the unfolding and folding approach switch is transmitted to the flight control machine through the controller of the unfolding and folding motor; the flight control machine receives a first signal; the flight control machine sends out a command for braking the stretching motor according to the received first signal; starting the next step of movement of the folding wing unmanned aerial vehicle 4;

s42, controlling the vertical wing 43 of the folding wing unmanned aerial vehicle 4 to unfold through the vertical wing rotating assembly;

after receiving the command of completing the operation in S41, the flight control machine sends a start command to the vertical wing motor 451; the vertical wing motor 451 drives the vertical wing rotating shaft to rotate through the gear pair, and the vertical wing rotating shaft drives the vertical wing 43 to stick up from the side surface of the unmanned plane 4 with the folding wings and to unfold upwards; when the vertical wing rotates to the right position, a vertical wing proximity switch arranged at the vertical wing rotating shaft transmits a ground/opening signal reaching the limit position to the flight control machine through a controller of the vertical wing motor 451; the flight control machine receives the second signal; the flight control machine sends out a command of braking the vertical wing motor 451 according to the received second signal;

at this time, the unfolding and folding device 44 drives the left wing and the right wing of the front wing 41 and the rear wing 42 to unfold in place; the vertical wing rotating assembly drives the vertical wing 43 to rotate to the proper position. Issuing an instruction of finishing the unfolding of the wings of the flight control machine; the unfolding and folding motors in the vertical wing motor 451 and the unfolding and folding power assembly 441 are locked, and the folding wing unmanned aerial vehicle 4 can stably fly in the near space under the damping of the folding wing unmanned aerial vehicle 4 umbrella.

And S5, controlling the separation of the umbrella cabin through a separation assembly.

After the flight control machine sends out and takes off the umbrella instruction, the detonation fracture of second explosion fastener 92, with parachute bay 10 and the separation of ring flange 11, parachute bay 10 takes 4 aircraft umbrellas of folding wing unmanned aerial vehicle to break away from, has realized the separation of parachute bay 10 and folding wing unmanned aerial vehicle 4. After finishing the parachute-throwing instruction of the folding wing unmanned aerial vehicle 4, the folding wing unmanned aerial vehicle 4 finishes the whole separation process and prepares to enter the cruising flight state.

And S6, the flight control machine controls the folding wing unmanned aerial vehicle 4 to enter a cruise flight state.

When the flight control machine receives the separation signal of the parachute bay 10, the command that the folding wing unmanned aerial vehicle 4 enters cruise flight is sent. The folding wing unmanned aerial vehicle 4 enters the cruising flight state of the near space under the control of the set near space flight parameters.

The folding-wing drone 4 and the carrier buffer separation control end.

The structure of the carrier including the buffer assembly and the separating assembly is described in detail below with reference to fig. 2-17:

as shown in fig. 2, the airborne vehicle includes a vehicle, a folding wing drone 4, a buffering assembly and a separation assembly. The carrier comprises a carrier head 1, a folding wing unmanned aerial vehicle 4, a carrier load cabin 2 and a control cabin 3; wherein, folding wing unmanned aerial vehicle 4 is last to install the flight control machine. The buffering and separating device of the carrier comprises a load cabin inner layer 6, an umbrella cabin 10, a buffering component and a separating component; the damping assembly comprises a radial fixing unit 7, a flexible adapter 15 and a hollow shaft 12; the separating assembly comprises an umbrella cabin cover separating unit, a separating unit and an umbrella cabin separating unit.

As shown in fig. 10, the radial fixing unit 7 includes a radial fixing portion 71 and a radial insertion portion 72; the radial fixing portion 71 is connected to the load compartment 2 and the radial plug portion 72 is connected to the outer wall of the inner layer 6 of the load compartment. In the mounted state, the radial fixing portion 71 and the radial plug portion 72 are matched in position; the plurality of radial fixing units 7 are arranged in groups, the plurality of radial fixing units 7 are circumferentially and uniformly distributed on the load compartment 2 in groups, and a plurality of groups of radial fixing units 7 are uniformly distributed along the axial direction of the load compartment 2. In this embodiment, the radial fixing unit 7 further comprises a radial flexible body 73; the radially flexible body 73 is made of a composite flexible body and is adhered to the inner surface of the radially fixed portion 71 or the outer surface of the radially inserting portion 72, or both surfaces of the radially flexible body 73.

As shown in fig. 2, preferably, the radial fixing units 7 are arranged on 3 uniformly distributed cross sections on 4 generatrices with the circumference of 45 degrees and 135 degrees, and 12 radial fixing units are arranged.

Further preferably, as shown in fig. 10, the load compartment 2 is provided with a partially through load compartment sink structure, a sink fixing threaded hole is provided around the through portion of the load compartment sink, and the radial fixing portion 71 is disposed in the load compartment sink structure in a matching and positioning manner. Preferably, the radial fixing portion 71 is of a stepped block structure, the size of the large end of the radial fixing portion 71 is matched with the load compartment sinking groove, a plurality of fixing counter bores corresponding to the sinking groove fixing threaded holes are formed in the radial fixing portion 71, and the small end of the radial fixing portion 71 penetrates through a through portion in the load compartment sinking groove. A penetrating radial fixing portion mounting hole is provided at a central position of the radial fixing portion 71. The fixing counter bore and the load cabin sink groove structure are both used for preventing the installation of the radial fixing unit 7 from generating structural influence on the outside and avoiding unnecessary mechanical influence in the flight process.

As shown in fig. 10, in this embodiment, preferably, the inner surface of the radial insertion portion 72 is shaped to connect with the outer wall of the inner layer 6 of the load compartment, the outer surface of the radial insertion portion 72 is provided with a radial insertion reinforcing portion of the boss structure, a radial insertion threaded hole is provided at the center of the radial insertion reinforcing portion, and the radial insertion threaded hole corresponds to the mounting hole of the radial fixing portion when the radial fixing portion is mounted.

The load compartment 2 and the load compartment inner layer 6 are stably connected with the radial fixing part 71 and the radial inserting part 72 through load compartment bolts with positioning pins; the positioning part of the load cabin bolt is arranged in the radial fixing part mounting hole after being mounted, and the threaded part of the load cabin bolt is in threaded connection with the radial inserting threaded hole.

Further preferably, the radial fixation unit 7 further comprises a radially flexible body 73. The radially flexible body 73 is a composite flexible material capable of storing or dissipating impact energy, and is adhered to the outer surface of the radial insertion part 72 by adhesive glue, and a through hole is formed in the middle of the radially flexible body, so that the radially fixed part 71 and the radial insertion part 72 can be conveniently connected together by a fastener.

As shown in fig. 5 and 8, the front frames 14 are symmetrically arranged at the axial horizontal middle plane of the inner side of the load compartment inner layer 6 at the head of the load compartment 2, the front frame groove 141 is arranged at the inner side of the front frame 14, and one end of the front frame groove 141 close to the head of the load compartment 2 is a blind end.

The flexible adapter 15 is adhered to the outer surface of the stopper 16 by an adhesive or to the inner surface of the front bezel 141 by an adhesive. Preferably, the flexible adapter 15 is attached to the inner surface of the front bezel 141 by an adhesive. In particular, the flexible adaptor 15, like the radially flexible body 73, is made of a composite flexible material, having the function of absorbing and dissipating impact forces.

As shown in fig. 5 and 8, the two sides of the head of the folding wing unmanned aerial vehicle 4 are symmetrically provided with limit blocks 16; in the installed state, the 2 limit blocks 16 are respectively limited in the front frame groove 141. This embodiment is preferred, and stopper 16 sets up on the stringer axial truss of folding wing unmanned aerial vehicle 4 outer wall to increase the position stability of stopper 16 on folding wing unmanned aerial vehicle 4

As shown in fig. 9, one end of the front bezel 141 close to the head of the load compartment inner layer 6 is a blind end, which can limit the folding-wing drone 4 from moving in the direction of the carrier head 1 along the axial direction in the load compartment inner layer 6; the limiting blocks 16 are limited in the side walls of the front frame groove 141, so that the circumferential position of the folding wing unmanned aerial vehicle 4 in the load compartment inner layer 6 can be stabilized; the flexible adapter 15 covers the inner wall of the front frame groove 141, can store or dissipate impact energy generated in the flight process, and reduces the impact pulse amplitude of the impact force transmitted to the folding wing unmanned aerial vehicle 4, so that the dynamic stress on the folding wing unmanned aerial vehicle 4 is smaller than the failure limit value and the strength limit of the material, and the purpose of high overload protection of the folding wing unmanned aerial vehicle 4 is achieved. The flexible adapter 15 is made of a material having a strong ability of absorbing impact energy, and can absorb and dissipate a large amount of impact wave energy in the deformation and compaction process under the action of impact load, so that the impact on the folding wing unmanned aerial vehicle 4 is reduced, and the purpose of further protecting the folding wing unmanned aerial vehicle 4 is achieved. When the impact strength is relatively small, the flexible material of the flexible adapter 15 can play a role in buffering the impact force; when the impact strength is relatively high, the impact energy is dissipated by virtue of the large plastic deformation of the flexible material used for the flexible adapter 15. In addition, in the buffer separation device of the whole carrier, under the installation condition that the carrier flies integrally, the folding wing unmanned aerial vehicle 4 is limited symmetrically only on two sides of one position of the front frame 14, on one hand, under the matching of the limit at the tail frame 13 of the unmanned aerial vehicle, the folding wing unmanned aerial vehicle 4 is stable in axial and circumferential positions and is not easy to deform due to less limit; on the other hand, in the process of separating the folding wing unmanned aerial vehicle 4 from the carrier, the folding wing unmanned aerial vehicle 4 does not have redundant limiting interference due to less limitation, and can be rapidly separated.

As shown in fig. 2 and 6, a canopy separating unit is connected to one radial side of the second end of the canopy 10; the radial opposite side of the umbrella cabin cover separation unit is connected with an umbrella cabin cover fixing hook 18, and the umbrella cabin cover fixing hook 18 is inserted in an umbrella cabin groove 19 arranged on the umbrella cabin 10.

As shown in fig. 6 and 7, in the preferred embodiment, the canopy split unit is a first explosion fastener 91 fixedly installed on the sidewall of the second end port of the

canopy

10, and 2 canopy fixing hooks 18 are overlapped on the canopy 10 through the canopy grooves 19 of the canopy 10. The second end of the umbrella cabin 10 is connected with an umbrella cabin cover 17; specifically, the canopy 17 is attached to the canopy 10 by the attachment of fasteners to the first burst fasteners 91 and the canopy anchor hooks 18. The top-firing bolt of the first explosive fastener 91 fastens the canopy 17 by means of a screw in a threaded hole provided at the top of the first explosive fastener 91.

After the flight control machine sends out the instruction of opening the umbrella, the top of first explosion fastener 91 explodes the bolt, produce explosion thrust to the screw direction, release the screw, canopy 17 is promoted in one side, cause canopy 17 to use canopy fixed hook 18 to rotate as the pin joint, canopy fixed hook 18 rotates immediately, break away from canopy groove 19, canopy fixed hook 18 drops, the opposite side of canopy 17 also breaks away from spacing, thereby make whole canopy 17 and canopy 10 separate, unmanned aerial vehicle machine umbrella breaks away from, opens, has reached the purpose of opening the umbrella.

As shown in fig. 2, the buffer separating device of the carrier of the aircraft further comprises a motor 8 and a hollow shaft 12.

As shown in fig. 3 and 4, the motor 8 is mounted on a first side outside the drone tail frame 13. In this embodiment, the motor 8 is preferably a servo motor with a hole in the center, and is controlled by a servo controller. The motor 8 provides power for the integrative flight of carrier, provides power for the folding wing unmanned aerial vehicle 4 flight after with the carrier separation, and the centre bore of motor 8 also provides circumference spacing for quill shaft 12, has played the effect of stabilizing the quill shaft 12 position.

As shown in fig. 11 and 12, a first end of the hollow shaft 12 is provided with a large hollow shaft flange, and a small hollow shaft flange is provided near a second end of the hollow shaft 12. The big flange of quill shaft connects the inboard second side of unmanned aerial vehicle tail frame 13 in folding wing unmanned aerial vehicle 4 to wear out unmanned aerial vehicle tail frame 13 and the 8 centre bores of motor, the little flange location of quill shaft 12 second end through its own quill shaft is on the boss that ring flange 11 centers set up, and passes through round pin hub connection flange 11 in this boss department. The flange 11 is connected to the pod 10 by a pod disconnect unit of the disconnect assembly which includes a second burst fastener 92.

Specifically, the hollow shaft 12 on the unmanned aerial vehicle tail frame 13 belongs to the buffering subassembly. The hollow shaft 12 is connected with the umbrella cabin 10 through the flange plate 11, so that the damping force of the umbrella can be transmitted to the hollow shaft 12, the unmanned aerial vehicle tail frame 13, the fuselage stringer and the skin through the buffering of the umbrella cabin 10 and the flange plate 11, the buffering transmission of the force under the large-impact working condition is realized through the deformation of the hollow shaft 12, and the destructive deformation of the folding wing unmanned aerial vehicle 4 is avoided.

Specifically, the second explosive fastener 92 and the third explosive fastener 93 are preferably fracture-type explosive bolts in this embodiment. The first end middle part of parachute bay 10 is connected through 3 second explosion fasteners 92 with ring flange 11, and ring flange 11 passes through 12 quill shafts of quill shaft 12 and connects on unmanned aerial vehicle tail frame 13 and be connected with folding wing unmanned aerial vehicle 4, can realize folding wing unmanned aerial vehicle 4 and parachute bay 10 be connected.

As shown in fig. 3, the outer circle department of the first end circumference of parachute bay 10 is connected with the framework of control cabin 3 through 3 third explosion fasteners 93 of equipartition, and folding wing unmanned aerial vehicle 4 is on control cabin 3 by third explosion fastener 93 axial positioning through the parachute bay 10 of connecting, realizes the axial positioning of folding wing unmanned aerial vehicle 4 and carrier.

As shown in fig. 13 and 14, the plate spring 5 is an elastic body with a hook. A plurality of leaf springs 5 are connected at folding wing unmanned aerial vehicle 4's lateral surface along folding wing unmanned aerial vehicle 4's axial and circumference equipartition, and the excircle portion of crotch contacts 6 inner walls of load cabin inlayer with elastic tension.

As shown in fig. 15, preferably, at least 3 pairs of leaf springs 5 are uniformly distributed on the stringers on both sides of the folding wing drone 4, and the leaf springs 5 are axially located on one side of the limit block 16, specifically, in the direction away from the head of the folding wing drone 4. Leaf spring 5 has played the effect of keeping apart folding wing unmanned aerial vehicle 4 and load cabin inlayer 6 at the in-process that folding wing unmanned aerial vehicle 4 withdrawed from the carrier for folding wing unmanned aerial vehicle 4 does not contact with load cabin inlayer 6 all the time, has protected 4 overall structure's of folding wing unmanned aerial vehicle intact.

As shown in fig. 16, the folding wing drone 4 includes a front wing 41, a rear wing 42, a vertical wing 43, a deployment and retraction device 44, and a vertical wing rotation assembly 45; the front wing 41 and the rear wing 42 include respective left and right wings. The left wing and the right wing of the front wing 41 are hinged above the head of the folding wing unmanned aerial vehicle 4; the left wing and the right wing of the rear wing 42 are hinged below the tail part of the folding wing unmanned aerial vehicle 4.

As shown in fig. 17, the stretching device 44 includes a stretching power assembly 441, a slide 442, a carriage 443, and a pull rod assembly 444.

The power assembly 441 comprises a motor, a screw and a nut. The output shaft of the unfolding and folding motor is connected with the unfolding and folding screw rod through a coupler, the unfolding and folding screw rod and the unfolding and folding nut form a screw pair, and the rotary power of the output shaft of the unfolding and folding motor is converted into linear displacement of the unfolding and folding nut. The expansion nut is attached to the carriage 443. The unfolding and folding power assembly 441 drives the sliding frame 443 to limit the sliding frame in the sliding way 442 to make linear displacement; the two ends of the sliding frame 443 are respectively provided with a sliding frame connecting handle, and the 2 sliding frame connecting handles are respectively connected with a pull rod assembly 444. The 2 pull rod assemblies 444 are respectively connected with the left wing and the right wing in a limiting mode and drive the left wing and the right wing to rotate around the hinged points of the left wing and the right wing, and therefore the left wing and the right wing can be unfolded in a rotating mode relative to the airframe of the folding wing unmanned aerial vehicle 4.

As shown in fig. 18, the vertical wing rotating assembly 45 comprises a vertical wing motor 451 and a vertical wing transmission pair 452; both ends of the vertical wing transmission pair 452 are provided with vertical wing output shafts; the vertical wing output shaft is connected with and drives the vertical wing 43 to rotate. Among them, the vertical wing motor 451 is connected to the fuselage truss at the rear of the fuselage, specifically, at the rear of the unfolding and folding device 44 installed at the rear end of the fuselage. Preferably, the vertical wing motor 451 of the present embodiment is a stepping motor, and outputs rotational power to the vertical wing transmission pair 452; the vertical wing transmission pair 452 is a gear pair, the driving pair is an external gear with a key slot at the center hole and is connected to the output shaft of the vertical wing motor 451; the driven pair is an external gear with concentric shafts at two ends, the concentric shafts are vertical wing rotating shafts, two ends of each vertical wing rotating shaft are of prismatic structures, and the vertical wings 43 are stably limited and connected, so that the vertical wings 43 synchronously rotate along with the vertical wing rotating shafts. The rotation of the vertical wing motor 451 is converted into the homodromous rotation motion of the vertical wing rotating shafts at the two ends through the vertical wing transmission pair 452, and the vertical wing 43 is driven to rotate homodromous in the vertical plane of the side surface of the folding wing unmanned aerial vehicle 4.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Meanwhile, all the equipment carrying the device can expand the application field and generate composite technical effects, and the invention belongs to the protection scope of the method.

Claims

1. A folding wing unmanned aerial vehicle and carrier buffer separation control method is characterized by being used for controlling the process that a folding wing unmanned aerial vehicle (4) flies from an integrated state of a carrier to a state of getting out of the carrier and entering a cruising flight state;

the folding wing unmanned aerial vehicle and carrier buffer separation control method comprises the following steps:

s3, controlling the folding wing unmanned aerial vehicle (4) to be separated from the carrier through a separation component;

s4, controlling the wings of the folding wing unmanned aerial vehicle (4) to unfold;

s5, controlling the separation of the umbrella cabin through a separation assembly;

and S6, the flight control machine controls the folding wing unmanned aerial vehicle (4) to enter a cruising flight state.

2. A folding wing drone and carrier buffer separation control method according to claim 1, characterised in that S1 comprises mounting buffer components in the carrier, mounting folding wing drone (4) and mounting separation components.

3. The folding-wing drone and carrier buffer separation control method according to claim 2, characterized in that the step of installing the buffer assembly in S1 comprises connecting the load compartment (2) and the load compartment inner layer (6) with a radial fixing unit (7), connecting the load compartment inner layer (6) and the folding-wing drone (4) with a flexible adapter (15), and connecting the folding-wing drone (4) and the parachute bay (10) with a hollow shaft (12).

4. The folding-wing drone and carrier buffer separation control method according to claim 2, characterized in that the step of installing separation components in S1 includes connecting the canopy (17) and the canopy (10) through a canopy separation unit, connecting the canopy (10) and the control cabin (3) through a carrier separation unit, and connecting the canopy (10) and the folding-wing drone (4) through a canopy separation unit.

5. The folding-wing drone and carrier buffer separation control method according to claim 4, characterized in that the canopy separation process in S2 includes the steps of firing the first explosive fastener (91) in the canopy separation unit, disengaging the fixing hook (18) of the canopy separation unit, and separating the canopy (17) from the canopy (10).

6. The folding-wing drone and carrier buffer separation control method according to claim 2, characterized in that the separation of the folding-wing drone (4) from the carrier in S3 comprises the steps of detonating a third explosive fastener (93) of the carrier separation unit, freeing the folding-wing drone (4) from the axial limit of the control cabin (3), separating from the carrier.

7. The folding wing drone and carrier buffer separation control method according to claim 6, characterized in that the step of wing deployment of the folding wing drone (4) in S4 comprises:

s41, controlling the front wing (41) and the rear wing (42) of the folding wing unmanned aerial vehicle (4) to be unfolded through the unfolding and folding device;

s42, controlling the vertical wing (43) of the folding wing unmanned aerial vehicle (4) to be unfolded through the vertical wing rotating assembly.

8. The folding-wing drone and carrier buffer separation control method according to claim 7, characterized in that S41 includes a step of starting 2 unfolding devices (44) of the folding-wing drone (4), the 2 unfolding devices (44) respectively driving the respective left wing and right wing of the front wing (41) and the rear wing (42) to unfold from the folding-wing drone (4) body to both sides.

9. The folding wing drone and carrier buffer separation control method according to claim 8, characterized in that S42 includes the step of starting the vertical wing rotation assembly, the vertical wings (43) rotating upwards from both sides of the fuselage of the folding wing drone (4) to be perpendicular to the fuselage of the folding wing drone (4).

10. The folding wing drone and carrier buffer separation control method according to claim 9, characterized in that S5 comprises the step of detonating the second explosion fastener (92) in the parachute bay separation unit, the parachute bay (10) being separated from the folding wing drone (4).