CN116923751A - Wing folding and unfolding mechanism suitable for intelligent variant aircraft - Google Patents
Wing folding and unfolding mechanism suitable for intelligent variant aircraft Download PDFInfo
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- CN116923751A CN116923751A CN202310977726.XA CN202310977726A CN116923751A CN 116923751 A CN116923751 A CN 116923751A CN 202310977726 A CN202310977726 A CN 202310977726A CN 116923751 A CN116923751 A CN 116923751A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000013459 approach Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 230000008901 benefit Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
- B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
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Abstract
The application discloses a wing folding and unfolding mechanism suitable for an intelligent variant aircraft, which comprises a base, a rocker arm, a support, a rotating pair, a support, a wing spar, a wing body shell, a wing unfolding mechanism and a wing unfolding mechanism, wherein the base is used for connecting a side connecting rod with a middle connecting rod; the rocker arm rotates to enable the base to translate up and down, and the base translates to drive the wing spar to rotate through the side connecting rod; the folding and unfolding mechanism has dead points when the folding angle of the wing is the maximum value and the minimum value, and has the characteristics of simple structure, small volume, high stability and large bearing load.
Description
Technical Field
The application relates to the field of variant unmanned aerial vehicles, in particular to a wing folding and unfolding mechanism.
Background
In recent years, with the continuous progress of technology, unmanned aerial vehicles are being studied in various fields. Among them, a hybrid wing aircraft that combines the long endurance advantage of a fixed wing aircraft and the vertical take-off and landing advantage of a rotorcraft is the focus of current research. The vertical take-off and landing variant unmanned aerial vehicle is an unmanned aerial vehicle capable of realizing power reversing through wing folding and unfolding and gesture transformation, and has the characteristics of reducing weight and drag, reducing flight energy consumption and improving cruising ability. Among them, the wing folding and unfolding mechanism is one of important mechanisms.
In the prior art, the folding and unfolding mechanism has the defects of unreliable locking after being unfolded, complex structure, larger volume, smaller bearable load and the like.
Therefore, a new solution is needed to solve the above-mentioned problems.
Disclosure of Invention
In order to solve the problems generated by the prior art, the application provides the wing folding and unfolding mechanism which has high stability, large bearing load, simple structure and small volume and is suitable for the intelligent variant aircraft.
In order to achieve the above purpose, the wing folding and unfolding mechanism suitable for the intelligent variant aircraft can adopt the following technical scheme:
the wing folding and unfolding mechanism suitable for the intelligent variant aircraft comprises a fuselage shell, wing spars which are positioned at two sides of the fuselage shell and are symmetrically arranged, and folding and unfolding actuating mechanisms matched with the wing spars;
the folding and unfolding actuating mechanism comprises a base which can be close to or far away from the machine body shell, a driving device, a rocker arm hinged with an output shaft of the driving device, a middle connecting rod and a side connecting rod; one end of the middle connecting rod is hinged with the rocker arm, and the other end of the middle connecting rod is hinged on the base; one end of the side connecting rod is hinged with the wing spar, and the other end of the side connecting rod is hinged on the base; the upper end of the wing spar is hinged with the bracket, and the hinge point of the side connecting rod and the wing spar is lower than the hinge point of the wing spar and the bracket;
the driving device drives the rocker arm to rotate so as to drive the middle connecting rod to rotate; when the included angle between the rocker arm and the middle connecting rod is reduced, the base approaches the body shell, and the side connecting rod also approaches the body shell so that the wing spar is in an unfolding state relative to the body shell; when the included angle between the rocker arm and the middle connecting rod is increased, the base is far away from the fuselage shell, and the wing spar is in a folded state relative to the fuselage shell.
Further, the base and the driving device are respectively positioned at two sides of the machine body shell, the middle connecting rod and the side connecting rod penetrate through the machine body shell, and the machine body shell is provided with a hole for the middle connecting rod and the side connecting rod to rotate and penetrate through.
Further, the driving device is a servo transmission device, a cylindrical hole is formed in the center of the rocker arm, and interference fit is formed between the cylindrical hole and a motor of the servo transmission device.
Further, the rocker arm and the intermediate link are in a dead point position when on the same straight line.
Further, the center connecting point of the rocker arm and the connecting point of the middle connecting rod and the base coincide on the horizontal plane of the base, and the distance l between the base and the center of the rocker arm in the vertical direction is expressed as:
l＝acosα+bcosβ
in the formula, the extending direction of the height of the mechanism is taken as a y axis, and the direction of the machine body shell along the bracket is taken as a positive direction; taking the extending direction of the length of a base of the mechanism as an x axis, taking the pointing direction of the tip of an included angle between the middle connecting rod and the rocker arm as a positive direction, taking the extending direction of the width of the base as a z axis, taking the extending direction of a support end point along wing spar as a positive direction, a being one half of the length of the rocker arm, b being the length of the middle connecting rod, alpha being the included angle between the rocker arm and the negative direction of the y axis, and beta being the included angle between the middle connecting rod and the positive direction of the y axis; and satisfies b > a, beta E (-90 DEG, 90 DEG).
Further, the included angle between the wing spar and the positive direction of the z-axis is a folding angle eta, and when the rocker arm rotates at a constant speed, the folding angle eta meets the relation:
wherein c is the length of the side connecting rod; d is the distance from the connection point of the wing spar and the side connecting rod to the connection point of the wing spar and the top end of the bracket; e is the distance between the top end of the wing spar and the bottom end of the side connecting rod in the horizontal direction; θ is the angle between the side link and the positive y-axis direction.
Further, when the folding angle eta=0°, the wing is defined to be in a fully unfolded state; when η=80°, the wing is defined to be in a fully folded state; when 0 ° < η <80 °, the wing is defined as being in the process of folding; during folding and after the fully unfolded state, the servo drive motor will not reverse.
Further, wing spars are arranged on two sides of the fuselage shell, and side connecting rods matched with the wing spars on the two sides are hinged to the same base; when the base is close to or far away from the fuselage shell, the wing spars on both sides are simultaneously unfolded or folded relative to the fuselage shell.
Further, wing spars on the same side of the fuselage skin are arranged in pairs, two side links are also provided and each cooperate with one wing spar, and the intermediate link is located between the two side links.
Further, when the wing is in the fully extended state, the transmission device is stopped from driving, and the rocker arm and the intermediate connecting rod are positioned on the same straight line and are positioned at the dead point position.
The application has the following beneficial effects:
1. when the servo transmission device stops working, the rocker arm and the middle connecting rod are at dead point positions and do not move relative to the machine body, so that the stability of the folded or unfolded wing is ensured, and the bearable wing load is large.
2. The application has simple structure, less parts, light weight and small volume.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a folding and unfolding actuator;
FIG. 2 is a schematic view of a rocker arm-intermediate link configuration of a fold-and-unfold actuator;
FIG. 3 is a schematic view of a side link-wing spar configuration of a fold-out actuator.
In the figure, 101 is a fuselage shell, 301 is a wing spar, 201 is a driving device, 202 is a rocker arm, 203 is a middle connecting rod, 204 is a base, 205 is a side connecting rod, and 206 is a bracket.
Detailed Description
The present application is further illustrated in the accompanying drawings and detailed description which are to be construed as exemplary only and not limiting the scope of the application, since modifications to the application in the art will fall within the scope of the application which is defined by the appended claims after reading the application.
Referring to fig. 1, a wing folding and unfolding mechanism suitable for an intelligent variant aircraft comprises a fuselage shell 101, wing spars 301 which are positioned at two sides of the fuselage shell 101 and are symmetrically arranged, and folding and unfolding executing mechanisms matched with the wing spars 301;
the folding and unfolding actuating mechanism comprises a base 204 which can be close to or far away from the machine body shell 101, a driving device 201, a rocker 202 hinged with an output shaft of the driving device 201, a middle connecting rod 203 and a side connecting rod 205; the middle connecting rod 203 is hinged with the rocker 202 at one end and is hinged with the base 204 at the other end; side links 205 are hinged at one end to wing spar 301 and at the other end to base 204; the fuselage shell 101 is provided with an upward extending bracket 206, the upper end of the wing spar 301 is hinged with the bracket 206, and the hinge point of the side connecting rod 205 and the wing spar 301 is lower than the hinge point of the wing spar 301 and the bracket 206;
the driving device 201 drives the rocker arm 202 to rotate, and then drives the intermediate connecting rod 203 to rotate; when the angle between the rocker 202 and the intermediate link 203 becomes smaller, the base 204 approaches the fuselage shell 101, and the side links 205 also approach the fuselage shell 101, so that the wing spar 301 is in an unfolded state relative to the fuselage shell 101; when the angle between the swing arm 202 and the intermediate link 203 becomes large, the base 204 moves away from the fuselage shell 101 and the wing spar 301 is in a folded state relative to the fuselage shell 101.
Wherein the driving device 201 is a servo transmission device; the base 204 and the driving device 201 are respectively positioned at two sides of the body shell 101, the middle connecting rod 203 and the side connecting rod 205 penetrate through the body shell 101, and the body shell 101 is provided with an opening through which the middle connecting rod 203 and the side connecting rod 205 rotate; wing spars 301 are arranged on two sides of the fuselage shell 101, and side connecting rods 205 matched with the wing spars 301 on two sides are hinged on the same base 204; when the base 204 approaches or moves away from the fuselage shell 101, the wing spars 301 on both sides are simultaneously unfolded or folded relative to the fuselage shell 101; when the wing is in a fully unfolded state, the transmission device stops driving, and the rocker 202 and the middle connecting rod 203 are positioned at a dead point position because of being positioned on the same straight line; wing spars 301 on the same side of the fuselage skin 101 are arranged in pairs, and side links 205 are also provided in pairs, each of which cooperates with one wing spar 301, with an intermediate link 203 being located between the two side links 205.
In the embodiment, the extending direction of the height of the mechanism is taken as a y axis, and the direction of the body shell 101 along the bracket 206 is taken as a positive direction; the length extending direction of the base 204 of the mechanism is taken as an x-axis, the pointed direction of the tip of the included angle between the middle connecting rod 203 and the rocker arm 202 is taken as a positive direction, the width extending direction of the base 204 is taken as a z-axis, and the end point of the bracket 206 is taken as a positive direction along the extending direction of the wing spar 301.
Referring to fig. 2, the center point of the rocker arm 202 coincides with the connection point between the intermediate link 203 and the base 204 in the horizontal plane of the base 204, and the vertical distance l between the base 204 and the center of the rocker arm 202 is expressed as:
l＝acosα+bcosβ
wherein a is one half of the length of the rocker arm 202, b is the length of the intermediate connecting rod 203, alpha is the included angle between the rocker arm 202 and the negative direction of the y axis, and beta is the included angle between the intermediate connecting rod 203 and the positive direction of the y axis; and satisfies b > a, beta E (-90 DEG, 90 DEG).
Referring to fig. 3, in the coordinate system, a predetermined positive y-axis direction is taken as an x-axis, and a predetermined positive z-axis direction is taken as a y-axis. The angle between wing spar 301 and the positive z-axis direction is the folding angle η, which satisfies the relationship when swing arm 202 rotates at a constant speed:
wherein c is the length of the side link 205; d is the distance from the connection point of the wing spar 301 with the side link 205 to the connection point with the top end of the bracket 206; e is the distance between the top end of wing spar 301 and the bottom end of side link 205 in the horizontal direction; θ is the angle between the side link 205 and the positive y-axis direction.
When the folding angle eta=0°, the wing is defined to be in a fully unfolded state, and the rocker 202 and the intermediate link 203 are on the same straight line and the base 204 is close to the fuselage housing 101, the vertical distance l between the base 204 and the center of the rocker 202 is the minimum; when η=80°, it is defined that the wing is in a fully folded state, in which the swing arm 202 and the intermediate link 203 are on the same line and the base 204 is far from the fuselage housing 101, the vertical distance l between the base 204 and the center of the swing arm 202 reaches a maximum value; when 0 ° < η <80 °, the wing is defined as being in the process of folding; the folding and unfolding mechanism has dead points when the wing folding angle is at a maximum value and a minimum value. During the folding and unfolding process and after the complete unfolding state, the motor of the servo transmission device cannot rotate reversely. When the wing is in the folding and unfolding process, the wing keeps a specific wing folding angle unchanged under the condition that the actual power is smaller than the maximum power of the servo transmission device, and the motor of the servo transmission device cannot rotate reversely; when the wing is in the fully extended state, the servo drive will stop driving, the rocker 202 and the intermediate link 203 are in dead point position due to being on the same straight line, and the side links 205 and wing spar 301 are fixed, so that the servo drive motor will not reverse even if the wing is stressed.
In this embodiment, cylindrical holes are formed at two ends of the rocker arm 202, and one end of the rocker arm is coaxially matched with the intermediate connecting rod 203 through a combination bolt, so that the rocker arm and the intermediate connecting rod can rotate relatively; the center of the rocker arm 202 is provided with a cylindrical hole, and the cylindrical hole and a motor of the servo transmission device form interference fit.
The center of the base 204 is provided with a connecting cylindrical hole, a revolute pair can be formed by combining a combined bolt and an intermediate connecting rod, and the intermediate connecting rod rotates to enable the base 204 to translate along the normal direction of the horizontal plane of the machine body shell 101; the two ends of the base 204 are provided with connecting cylindrical holes, a revolute pair can be formed by combining a combined bolt and the side connecting rod 205, and the base 204 can rotate by translating along the normal line of the horizontal plane of the machine body shell 101.
The top end of the wing spar 301 is provided with a cylindrical hole, and a revolute pair can be formed by combining a combined bolt and the square bracket 206 of the fuselage housing 101; the middle part of the wing spar 301 is provided with a cylindrical hole, the wing spar 301 and the side connecting rods 205 can form coaxial fit and can rotate relatively, and the rotation of the side connecting rods 205 can enable the wing spar 301 to rotate around the cylindrical hole at the top end.
Specifically, the wing unfolding process is as follows: before the unmanned aerial vehicle takes off, the wing is in the complete folded state, and vertical direction distance l in base 204 and rocking arm 202 center is maximum, and after unmanned aerial vehicle takes off and reaches certain flight speed, outside remote controller sends the wing and expands the instruction, and servo drive device drives rocking arm 202 and rotates, makes base 204 upwards translate along fuselage shell 101 horizontal plane normal through intermediate link 203, because base 204 both ends use the combination bolt to be connected with side connecting rod 205, and then drive side connecting rod 205 and rotate. The middle cylindrical hole of the wing spar 301 is coaxially matched with the side connecting rod 205 through a combination bolt and rotates relatively, the top end of the wing spar 301 is connected with the square bracket 206 of the fuselage housing 101 through the combination bolt to form a revolute pair, and when the side connecting rod 20 rotates, the wing spar 301 is driven to rotate around the top end of the square bracket 206, so that the wing spar 301 is driven to be unfolded. When the base 204 is close to the body 101, that is, when the vertical distance l between the base 204 and the center of the rocker 202 reaches the minimum value, the servo transmission device stops driving, the rocker 202 and the middle connecting rod 203 are positioned on the same straight line and are positioned at the dead point, the base 204 is fixed, the base 204 and the side connecting rod 205 which is coaxially matched with the base 204 through the combined bolt are fixed, and the wing is in a fully unfolded state.
The wing folding process comprises the following steps: the folding wing is in a fully unfolded state initially, at the moment, the vertical distance l between the base 204 and the center of the rocker 202 is the minimum value, an external remote controller sends out a wing folding instruction, a servo transmission device drives the rocker 202 to rotate, the base 204 is enabled to translate downwards along the horizontal plane normal of the fuselage housing 101 through the middle connecting rod 203, the upper end of the side connecting rod 205 is coaxially matched with a cylindrical hole in the middle of the wing spar 301, the lower end of the side connecting rod is connected with the base 204 to form a revolute pair, the base 204 translates downwards, the wing is driven to fold through the side connecting rod 205, when the vertical distance l between the base 204 and the center of the rocker 202 reaches the maximum value, the servo transmission device stops driving, the rocker 202 and the middle connecting rod 203 are located on the same straight line and are in dead point positions, the base 204 is fixed, the side connecting rod 205 which is coaxially matched with the base 204 through a combination bolt is fixed, and the wing is in a fully folded state.
In summary, the wing folding and unfolding mechanism suitable for the intelligent variant aircraft has the characteristics of simple structure, small volume, high stability and large bearing load.
Claims (10)
1. The wing folding and unfolding mechanism suitable for the intelligent variant aircraft comprises a fuselage shell and wing spars which are positioned at two sides of the fuselage shell and are symmetrically arranged, and is characterized by further comprising folding and unfolding actuating mechanisms matched with the wing spars;
the folding and unfolding actuating mechanism comprises a base which can be close to or far away from the machine body shell, a driving device, a rocker arm hinged with an output shaft of the driving device, a middle connecting rod and a side connecting rod; one end of the middle connecting rod is hinged with the rocker arm, and the other end of the middle connecting rod is hinged on the base; one end of the side connecting rod is hinged with the wing spar, and the other end of the side connecting rod is hinged on the base; the upper end of the wing spar is hinged with the bracket, and the hinge point of the side connecting rod and the wing spar is lower than the hinge point of the wing spar and the bracket;
the driving device drives the rocker arm to rotate so as to drive the middle connecting rod to rotate; when the included angle between the rocker arm and the middle connecting rod is reduced, the base approaches the body shell, and the side connecting rod also approaches the body shell so that the wing spar is in an unfolding state relative to the body shell; when the included angle between the rocker arm and the middle connecting rod is increased, the base is far away from the fuselage shell, and the wing spar is in a folded state relative to the fuselage shell.
2. The wing folding and unfolding mechanism suitable for intelligent variant aircraft according to claim 1, wherein the base and the driving device are respectively positioned at two sides of the fuselage housing, and the middle connecting rod and the side connecting rod penetrate through the fuselage housing, and the fuselage housing is provided with an opening for the middle connecting rod and the side connecting rod to rotate and pass through.
3. The wing folding and unfolding mechanism suitable for intelligent variant aircraft according to claim 2, wherein the driving device is a servo transmission device, a cylindrical hole is arranged in the center of the rocker arm, and an interference fit is formed between the cylindrical hole and a motor of the servo transmission device.
4. A wing fold mechanism for intelligent morphing aircraft according to claim 3, wherein the rocker arm and intermediate link are in a dead-center position when on a straight line.
5. The wing fold and unfold mechanism for intelligent morphing aircraft according to claim 4, wherein the rocker center connection point coincides with the intermediate link and base connection point on the base horizontal plane, and the base-to-rocker center vertical distance/is expressed as:
l＝acosα+bcosβ
in the formula, the extending direction of the height of the mechanism is taken as a y axis, and the direction of the machine body shell along the bracket is taken as a positive direction; taking the extending direction of the length of a base of the mechanism as an x axis, taking the pointing direction of the tip of an included angle between the middle connecting rod and the rocker arm as a positive direction, taking the extending direction of the width of the base as a z axis, taking the extending direction of a support end point along wing spar as a positive direction, a being one half of the length of the rocker arm, b being the length of the middle connecting rod, alpha being the included angle between the rocker arm and the negative direction of the y axis, and beta being the included angle between the middle connecting rod and the positive direction of the y axis; and satisfies b > a, beta E (-90 DEG, 90 DEG).
6. The wing fold mechanism of claim 5, wherein the wing spar is angled away from the positive z-axis by an angle η, the angle η satisfying the relationship:
wherein c is the length of the side connecting rod; d is the distance from the connection point of the wing spar and the side connecting rod to the connection point of the wing spar and the top end of the bracket; e is the distance between the top end of the wing spar and the bottom end of the side connecting rod in the horizontal direction; θ is the angle between the side link and the positive y-axis direction.
7. The wing fold mechanism for use in a smart morphing aircraft of claim 6, wherein the fold angle η = 0 ° defines the wing in a fully deployed state; when η=80°, the wing is defined to be in a fully folded state; when 0 ° < η <80 °, the wing is defined as being in the process of folding; during folding and after the fully unfolded state, the servo drive motor will not reverse.
8. The wing folding and unfolding mechanism suitable for intelligent morphing aircraft according to claim 7, wherein wing spars are arranged on both sides of the fuselage housing, and side connecting rods matched with the wing spars on both sides are hinged on the same base; when the base is close to or far away from the fuselage shell, the wing spars on both sides are simultaneously unfolded or folded relative to the fuselage shell.
9. The wing folding and unfolding mechanism for intelligent morphing aircraft of claim 8, wherein wing spars on the same side of the fuselage skin are provided in pairs, side links are also provided and cooperate with one wing spar each, and the intermediate link is located between the two side links.
10. The wing deployment mechanism for intelligent morphing aircraft of claim 1, wherein the transmission is deactivated when the wing is in a fully deployed state, wherein the rocker arm and intermediate link are in a dead center position due to being in-line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310977726.XA CN116923751A (en) | 2023-08-04 | 2023-08-04 | Wing folding and unfolding mechanism suitable for intelligent variant aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310977726.XA CN116923751A (en) | 2023-08-04 | 2023-08-04 | Wing folding and unfolding mechanism suitable for intelligent variant aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116923751A true CN116923751A (en) | 2023-10-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310977726.XA Pending CN116923751A (en) | 2023-08-04 | 2023-08-04 | Wing folding and unfolding mechanism suitable for intelligent variant aircraft |
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| Country | Link |
|---|---|
| CN (1) | CN116923751A (en) |
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2023
- 2023-08-04 CN CN202310977726.XA patent/CN116923751A/en active Pending
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