CN117585215A - Folding wing of small unmanned aerial vehicle expands and locking mechanism and unmanned aerial vehicle - Google Patents
Folding wing of small unmanned aerial vehicle expands and locking mechanism and unmanned aerial vehicle Download PDFInfo
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- CN117585215A CN117585215A CN202410070362.1A CN202410070362A CN117585215A CN 117585215 A CN117585215 A CN 117585215A CN 202410070362 A CN202410070362 A CN 202410070362A CN 117585215 A CN117585215 A CN 117585215A
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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 invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a folding wing unfolding and locking mechanism of a small unmanned aerial vehicle and the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a folding wing unfolding and locking mechanism of a small unmanned aerial vehicle and the unmanned aerial vehicle.
Background
The wing is the main source of unmanned aerial vehicle lift, and the area increase of wing can obtain higher lift, has the researcher to try to replace monoblock wing with folding wing to the inconvenience that storage and transportation to unmanned aerial vehicle brought after the wing increases for the wing is in folding state when storing and transportation, and the wing gets into the expansion state and locks when taking off or after taking off.
The folding span startup locking mechanism of the current part unmanned aerial vehicle takes a patent CN204527607U as an example, the wings are driven by a micro motor or a steering engine in the unfolding process, the wings can realize the unfolding function, but the structure of the unfolding mechanism is complex, the parts are more, two sets of mechanisms are needed for the wings on two sides, the size of the unmanned aerial vehicle is increased, more space inside the unmanned aerial vehicle is occupied, the weight of the unmanned aerial vehicle is increased to a certain extent, the unfolding mode also easily causes the difference in the motion states of the left wing and the right wing or the upper wing and the lower wing, and the unfolding synchronism is poor.
At present, a cylindrical launching device is adopted when a part of folding wing unmanned aerial vehicle launches, and the unmanned aerial vehicle with a foldable unfolding mechanism is arranged in a launching cylinder with a corresponding caliber, so that the unmanned aerial vehicle accelerates to a safe take-off speed in the launching cylinder with a certain length; other launching modes are available, such as placing the folded unmanned aerial vehicle into an aircraft nacelle for high altitude launching, and ejecting, vertical take-off and landing, etc. to enable the unmanned aerial vehicle to take off from the ground or a close range position and spread the wingspan in the air to realize stable flight. These launch patterns all place higher regulatory requirements on the weight and profile dimensions of the drone.
Disclosure of Invention
One object of the present invention is: the folding wing unfolding and locking mechanism of the small unmanned aerial vehicle and the unmanned aerial vehicle are provided, the size of the wing folding unfolding and locking mechanism can be effectively controlled, related functions are realized under the limit of limited volume and weight, and the limit of the folding state on the volume of the unmanned aerial vehicle is met; other objects or advantages of the present invention will be described below.
To achieve these objects, the present invention provides a folding wing unfolding and locking mechanism for a small unmanned aerial vehicle, comprising:
the other ends of the first unfolding piece and the second unfolding piece are respectively connected with the upper wing and the lower wing,
the device comprises a main body, a first unfolding piece, a second unfolding piece, a torsion spring, a compression spring, a lock catch, a locking mechanism and a locking mechanism, wherein the two connecting ends of the torsion spring are fixedly connected with the first unfolding piece and the second unfolding piece respectively, so that when an upper wing and a lower wing are folded around a rotating shaft, the torsion spring is used for torsion energy storage, and torque for unfolding two sides of the main body is applied to the upper wing and the lower wing; the compression spring is wound on the outer side of the rotating shaft, one end of the compression spring is abutted against the first expanding piece or the second expanding piece, the lock catch is arranged on the upper wing and/or the lower wing, the lock catch at least comprises a limiting boss and a pit, when the upper wing and the lower wing are expanded to the two sides of the fuselage to the appointed position, the limiting boss is overlapped with the pit, and meanwhile, the compression spring provides axial locking force for the lock catch, so that automatic locking after the wing rotates to the appointed position is realized.
As a preferable embodiment scheme, a first annular cavity is arranged between the first unfolding piece and the second unfolding piece, the torsion spring is wound in the first annular cavity, the first unfolding piece is provided with a second annular cavity, the compression spring is wound in the second annular cavity, and the projection of the second annular cavity and the first annular cavity on the rotating shaft at least partially overlap.
As a preferable embodiment scheme, the torsion spring is a plane scroll spring, an inner hook and an outer hook are arranged on the plane scroll spring, and the inner hook is fixedly connected with the first unfolding piece to form a movable end of the plane scroll spring and can drive the first unfolding piece to rotate around a rotating shaft; the outer hook is fixedly connected with the second unfolding piece to form a movable end, and can drive the second unfolding piece to rotate around the rotating shaft.
As a preferable embodiment, the compression spring is a wave spring, an end cover is arranged at the end part of the rotating shaft, and two ends of the wave spring are respectively abutted against the end cover and the first expanding piece.
As a preferable embodiment scheme, one end of the limiting boss is fixed on the upper wing and/or the lower wing, and when the upper wing and the lower wing of the unmanned aerial vehicle are in a folded state, the other end of the limiting boss is in abutting connection or sliding connection with the lower wing and/or the upper wing.
As a preferable embodiment scheme, the pits are arranged on the upper wing and/or the lower wing, and the unfolding positions of the upper wing and the lower wing of the unmanned aerial vehicle to the two sides of the fuselage are controlled through the angles between the limiting bosses and the pits.
As a preferable embodiment scheme, one side of the limiting boss is provided with a first inclined plane, the pit is correspondingly provided with a second inclined plane, and the first inclined plane is in butt joint or sliding connection with the second inclined plane in the wing unfolding process.
As the scheme of the preferred embodiment, the wing unfolding and locking mechanism further comprises a sliding block and an arc-shaped groove matched with the sliding block, one end of the sliding block is fixedly connected with the upper wing and/or the lower wing, and the other end of the sliding block is abutted or slidably connected with the bottom surface of the arc-shaped groove.
As the scheme of the preferred embodiment, the bottom surface of the arc-shaped groove is obliquely arranged along the sliding direction of the sliding block, and when the wing of the unmanned aerial vehicle is unfolded from the folding state to the two sides of the fuselage, the limiting boss slides from the higher end of the bottom surface to the lowest end of the bottom surface.
As the scheme of the preferred embodiment, the end part of the limiting boss matched with the pit is a flexible end, the flexible end has enough rigidity and strength, the limiting boss is ensured to provide stable fixing effect with the pit in the wing unfolding process, locking after the wing rotates to a designated position is realized, meanwhile, the unmanned aerial vehicle is ensured to effectively resist the action of air pressure and wind force in the flight process, and the stability of the wing unfolding and locking mechanism is maintained.
As a preferable embodiment scheme, one end of the rotating shaft is connected to the unmanned aerial vehicle body, after the upper wing and the lower wing of the unmanned aerial vehicle are folded towards the unmanned aerial vehicle body, the upper wing and the lower wing are kept at folding positions through an external limiting means, and after external limiting is canceled, the upper wing and the lower wing are automatically unfolded towards two sides of the unmanned aerial vehicle body through torsion moment stored by the torsion spring.
The invention also provides an unmanned aerial vehicle, which comprises the folding wing unfolding and locking mechanism of the small unmanned aerial vehicle
By adopting the technology, compared with the prior art, the invention at least has the following beneficial effects:
the invention adopts torsion springs and compression springs as the unfolding driving piece of the wing and the locking piece of the lock catch; when the wing is folded around the rotating shaft, the torsion spring is used for torsion energy storage, meanwhile, the wing is kept at a folding position through an external limiting means, after the external limiting means is cancelled, the wing is unfolded to two sides by torsion moment of the torsion spring, when the wing is unfolded to a specified position, the limiting boss is overlapped with the pit, and meanwhile, the compression spring is used for providing axial locking force for the limiting boss and the pit, so that automatic locking after the wing rotates to the specified position is realized; compared with the partially folded wing driven by a motor or a steering engine, the invention has the advantages of small and compact whole structure, reasonable layout, reduced number and complexity of parts and realization of rapid unfolding and locking of the wing under the limit of limited volume and weight.
In the invention, the torsion spring and the compression spring are respectively arranged in the first annular cavity and the second annular cavity, and the projection of the second annular cavity and the first annular cavity on the rotating shaft is at least overlapped, so that the characteristic that the torsion spring and the compression spring are overlapped on the rotating shaft is innovatively and newly utilized, redundant materials are avoided, the weight of the wing is reduced, the loading capacity or the endurance time of the unmanned aerial vehicle is improved, meanwhile, the outline size is reduced, the appearance of the wing is optimized, the resistance and the turbulence on the surface of the wing are reduced, and the aerodynamic performance of the unmanned aerial vehicle is improved.
Thirdly, the sliding block and the arc-shaped groove are used for assisting the limit boss and the pit to lock the wing, the sliding block slides on the inclined plane and is also beneficial to utilizing the cooperation effect of the torsion spring and the compression spring, the rapid wing unfolding speed is provided under the condition that the mass and the energy storage effect of the torsion spring and the compression spring are not changed, the unfolding time of the unmanned aerial vehicle is shortened, or the mass of materials used is minimized under the condition that the unfolding capability is ensured.
Fourth, in the folding and unfolding process of the wing, the sliding blocks are arranged in the arc-shaped grooves in a sliding way all the time, so that the moment arm from the tail end of the wing to the rotating shaft is reduced, part of moment or impact load of the wing to the rotating shaft is shared by the sliding blocks and the arc-shaped grooves, the strength requirement on the rotating shaft is reduced, the reliability and stability of the unmanned aerial vehicle can be enhanced, and an effective way is provided for reducing the quality of the unmanned aerial vehicle under the condition of ensuring the rigidity and the strength.
Fifthly, the end part of the limit boss matched with the pit is a flexible end, after the limit boss is matched with the pit, the flexible end has enough rigidity and strength, so that the limit boss can be matched with the pit to provide a stable fixing effect in the wing unfolding process, and meanwhile, the strength of the flexible end ensures that the unmanned aerial vehicle can effectively resist the action of air pressure and wind force in the flight process, and the stability of the wing unfolding and locking mechanism is maintained. And secondly, the flexible end head has certain elasticity, tiny deformation and rebound can be generated when the wing is subjected to external force, so that when the wing is allowed to be unfolded to a designated position, the wing slightly forwards exceeds the designated position under the action of unfolding inertia, and then the wing is rotated backwards under the action of the elastic force of the flexible end head, so that after the wing is at the designated unfolding position, the rotating vibration with very small amplitude and higher frequency is generated around the rotating shaft, the moderate rotating vibration is favorable for inhibiting the generation of other unfavorable vibration, the wing is helped to reach a stable state more quickly, the forward thrust of the wing is increased to a certain extent, the forward flight speed of the unmanned aerial vehicle is increased, meanwhile, the wing is better adapted to airflow interference in flight, and the flexible end head has certain buffering and damping effects, can absorb part of vibration energy, and reduce the influence of vibration on the wing structure in the flight process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of one embodiment of a folding wing unfolding and locking mechanism of a small unmanned aerial vehicle;
fig. 2 is a schematic diagram of a mechanism of one embodiment of a folding wing unfolding and locking mechanism of a unmanned aerial vehicle in an unfolding state of the unmanned aerial vehicle wing;
fig. 3 is a schematic structural view of one embodiment of an upper wing, a lower wing, a first unfolding piece and a second unfolding piece provided by a folding wing unfolding and locking mechanism of the unmanned aerial vehicle;
fig. 4 is a schematic structural view of a first unfolding piece, a torsion spring and a second unfolding piece provided by another embodiment of a folding wing unfolding and locking mechanism of a unmanned aerial vehicle;
fig. 5 is a schematic structural view of a torsion spring and a second unfolding piece provided in another embodiment of a folding wing unfolding and locking mechanism of the unmanned aerial vehicle;
fig. 6 is a schematic structural diagram of a rotating shaft, a compression spring, a first unfolding piece and a second unfolding piece provided by another embodiment of a folding wing unfolding and locking mechanism of the unmanned aerial vehicle;
fig. 7 is a schematic diagram of a latch structure provided by one embodiment of a folding wing unfolding and locking mechanism of a small unmanned aerial vehicle;
fig. 8 is a schematic view of a slider and an arc-shaped groove structure provided by one embodiment of a folding wing unfolding and locking mechanism of a small unmanned aerial vehicle;
fig. 9 is a schematic diagram of a cross-sectional structure of a slider and an arc-shaped groove provided by one embodiment of a folding wing unfolding and locking mechanism of a unmanned aerial vehicle.
Icon: 1-a rotating shaft; 2-a first deployment element; 3-a second deployment element; 4-torsion springs; 5-compressing a spring; 6-locking; 7-upper wing; 8-lower wing; 9-a first annular cavity; 10-a second annular chamber; 11-a slider; 12-arc-shaped grooves; 121-a contact section; 101-end caps; 201-bump; 202-a second blind hole; 203-notch a; 301-a first blind hole; 302-notch B; 401-inner hooks; 402-an outer hook; 601-limiting boss; 602-pit; 603-a first ramp; 604-a second ramp.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
1, please refer to fig. 1-3, a folding wing unfolding and locking mechanism of a small unmanned aerial vehicle comprises a rotating shaft 1, a first unfolding piece 2 and a second unfolding piece 3, wherein one end of the first unfolding piece 2 and one end of the second unfolding piece 3 are rotatably connected to the rotating shaft 1, and the other end of the first unfolding piece 2 and the other end of the second unfolding piece 3 are respectively connected with an upper wing 7 and a lower wing 8 of the unmanned aerial vehicle; the novel wing folding machine further comprises a torsion spring 4, a compression spring 5 and a lock catch 6, wherein the torsion spring 4 is arranged between the first unfolding piece 2 and the second unfolding piece 3, two connecting ends of the torsion spring 4 are fixedly connected with the first unfolding piece 2 and the second unfolding piece 3 respectively, so that when the upper wing 7 and the lower wing 8 are folded around the rotating shaft 1, the torsion spring 4 is used for torsion energy storage around the rotating shaft 1, and torque for unfolding the two sides of the machine body is applied to the upper wing 7 and the lower wing 8.
The compression spring 5 is wound on the outer side of the rotating shaft 1, one end of the compression spring 5 is abutted to the first unfolding piece 2, the lock catch 6 is arranged on the upper wing 7 and/or the lower wing 8, the lock catch 6 at least comprises a limiting boss and a pit, when the upper wing 7 and the lower wing 8 are unfolded to the two sides of the machine body to the appointed position, the limiting boss is overlapped with the pit, and meanwhile, the compression spring 5 provides axial locking force for the lock catch 6, so that automatic locking after the wing rotates to the appointed position is realized.
Compared with the traditional folding wing unfolding and locking mechanism of the unmanned aerial vehicle, the folding wing unfolding and locking mechanism in the embodiment has the advantages that: 1. in the embodiment, the torsion spring 4 is adopted as the wing unfolding driving piece, the torsion moment of the torsion spring 4 is utilized to realize the rapid unfolding of the upper wing 7 and the lower wing 8 to the two sides of the fuselage, and compared with the traditional mode of unfolding the wings through a micro motor or steering engine driving gear and a connecting rod, the structure is more compact and more compact, and the unfolding function can be realized under the limit of limited volume and weight; 2. in this embodiment, the compression spring 5 abutting against the first expanding member 2 is used as a locking member of the lock catch 6, and is matched with the torsion spring 4, when the wing is driven by the torsion spring 4 to expand to the two sides of the fuselage to a specified position, the compression spring 5 responds rapidly, the lock catch 6 is driven to lock the wing, and the automatic locking of the wing is realized under the limitation of limited volume and weight.
Preferably, referring to fig. 1, in this embodiment, a first annular cavity 9 is formed between the first expansion member 2 and the second expansion member 3, the torsion spring 4 is wound in the first annular cavity 9, a second annular cavity 10 is formed between the first expansion member 2 and the end cover 101, the compression spring 5 is disposed in the second annular cavity 10, the torsion spring 4 and the compression spring 5 are disposed in the cavities, and the weight and the volume of the device in the wing are effectively controlled.
More preferably, the projection of the second annular cavity 10 and the projection of the first annular cavity 9 on the rotating shaft are at least partially overlapped, specifically, in this embodiment, the projection of the second annular cavity 10 and the projection of the first annular cavity 9 on the rotating shaft are overlapped by 80%, so that the axial space of the rotating shaft 1 is efficiently utilized, and the functions of unfolding and locking the wing are realized on the premise of not changing the aerodynamic shape of the wing.
Preferably, in this embodiment, one end of the limiting boss is fixed on the upper wing 7, when the upper wing 7 and the lower wing 8 of the unmanned aerial vehicle are in a folded state, the other end of the limiting boss is in abutting connection or sliding connection with the lower wing 8, so as to form an effective support, reduce friction which may exist when the upper wing 7 and the lower wing 8 are unfolded, and accelerate the unfolding of the wings.
Preferably, in this embodiment, the pit is disposed on the lower wing 8, the unfolding positions of the upper wing 7 and the lower wing 8 of the unmanned aerial vehicle towards two sides of the fuselage are controlled by the angle between the limiting boss and the pit, and in this embodiment, when the unmanned aerial vehicle wing is in a folded state, the angle between the limiting boss and the pit is controlled to be 120 ° -180 °.
In example 2, please refer to fig. 1 and fig. 4-8, as one embodiment of the present application, the first spreading member 2 and the second spreading member 3 are disc-shaped, and through holes matched with the rotating shaft are respectively provided on the first spreading member 2 and the second spreading member 3; one end of the first unfolding piece 2 is provided with a protrusion 201, the protrusion 201 and the rotating shaft 1 are coaxially arranged, one end, close to the protrusion 201, of the second unfolding piece 3 is provided with a first blind hole 301, the diameter of the first blind hole 301 is larger than that of the protrusion 201, when the first unfolding piece 2 is buckled with the second unfolding piece 3, a first annular cavity 9 is formed between the protrusion 201 and the first blind hole 301, the torsion spring 4 is arranged in the first annular cavity 9, and the torsion spring 4 is wound on the outer side of the protrusion 201.
Referring to fig. 1 and 6, the compression spring 5 is a wave spring, the rotating shaft 1 adopts a shoulder bolt, an end cover 101 is disposed at an end of the rotating shaft 1, a second blind hole 202 is disposed at an end of the first expansion member 2 adjacent to the compression spring 5, the second blind hole 202 is coaxially disposed with the rotating shaft 1, a second annular cavity 10 is formed between the end cover 101 and the second blind hole 202, the compression spring 5 is disposed in the second annular cavity 10, the compression spring 5 is wound on an outer side of the rotating shaft 1, and upper and lower ends of the wave spring are respectively abutted to a bottom end of the end cover 101 and a bottom end of the second blind hole 202.
Preferably, referring to fig. 5, in the present embodiment, the torsion spring 4 is a planar spiral spring, an inner hook 401 and an outer hook 402 are disposed on the planar spiral spring, and the inner hook 401 is fixedly connected with the first expanding member 2 to form a movable end of the planar spiral spring, so as to drive the first expanding member 2 to rotate around the rotation shaft 1; the outer hook 402 is fixedly connected with the second unfolding piece 3 to form a movable end, and can drive the second unfolding piece 3 to rotate around the rotating shaft 1, so that the upper wing 7 and the lower wing 8 can be synchronously unfolded.
Optionally, referring to fig. 4 to 5, in this embodiment, a notch a203 and a notch B302 are respectively provided on the inner walls of the protrusion 201 and the first blind hole 301, and an inner hook 401 and an outer hook 402 of the flat spiral spring are respectively embedded into the notch a203 and the notch B302 to form a connection; in some embodiments of the present application, the inner hook 401 and the outer hook 402 of the flat spiral spring may be fixedly connected to the first developing member 2 and the second developing member 3 by a latch.
In example 3, please refer to fig. 7, in one embodiment of the latch 6 of the present application, the latch 6 is disposed on the upper wing 7 and the lower wing 8 near one end of the first unfolding member 2 and the second unfolding member 3, the latch 6 includes two limiting bosses 601 and two concave pits 602 matching with the limiting bosses 601, when the upper wing 7 and the lower wing 8 of the unmanned aerial vehicle are in a folded state, the limiting bosses 601 disposed on the upper wing 7 are in abutting connection or sliding connection with the lower wing 8, and an effective support is formed before the upper wing 7 and the lower wing 8 are completely unfolded, and friction between the upper wing 7 and the lower wing 8 in the unfolding process is reduced.
Referring to fig. 7, the pit 602 is disposed on the lower wing 8 corresponding to the limit boss 601, and when the upper wing 7 and the lower wing 8 are unfolded to a specified position under the driving of the plane spiral spring, the limit boss 601 and/or the pit 602 disposed on the upper wing 7 axially move along the rotation shaft, and the limit boss 601 coincides with the pit 602, so as to realize automatic locking after the wing rotates to the specified position.
In general, in this embodiment, when the upper wing 7 and the lower wing 8 are kept at the folded positions by the external limiting means, the flat spiral springs fixedly connected with the first unfolding piece 2 and the second unfolding piece 3 store energy and stretch, after the external limiting is cancelled, the upper wing 7 and the lower wing 8 are unfolded to the right positions towards the two sides of the fuselage by the torsion moment of the flat spiral springs, and after the limiting boss 601 is overlapped with the pit 602, the upper wing and the lower wing are contracted under the axial force of the wave spring, so that the automatic locking of the unmanned aerial vehicle wing after being unfolded is realized.
In embodiment 4, please refer to fig. 8, further, on the basis of embodiment 3, the wing unfolding and locking mechanism further includes a slider 11 and an arc-shaped groove 12 matched with the slider 11, the slider 11 is disposed on the upper wing 7, the arc-shaped groove 12 is correspondingly disposed on the lower wing 8, and the slider 11 is disposed in the arc-shaped groove 12 in a sliding manner all the time during folding and unfolding of the unmanned aerial vehicle, so as to enhance the reliability of the latch 6.
The unmanned aerial vehicle wing is driven to be unfolded through an elastic element (a plane volute spring or other torsion springs), the elastic element needs to be ensured to have enough unfolding energy, so that the wing can be quickly unfolded, when the wing is unfolded to a designated position, the wing still has larger kinetic energy, and if the compression spring 5 is not responded timely, locking failure is easy to cause; if the unfolding energy of the elastic element is reduced, the unfolding time of the wing is increased, and the wing can not generate enough aerodynamic lift, so that the unmanned aerial vehicle is difficult to pull up and even fails to launch; in this embodiment, through the setting of slider 11 and arc recess 12, strengthened hasp 6 reliability for unmanned aerial vehicle wing can expand with bigger kinetic energy, unmanned aerial vehicle's transmission is more nimble.
In embodiment 5, further, please refer to fig. 9, in this embodiment, the bottom surface of the arc groove 12 is obliquely disposed along the sliding direction of the slider 11, when the wing of the unmanned aerial vehicle is unfolded from the folded state to two sides of the fuselage, the slider 11 slides from the higher end of the bottom surface to the lowest end of the bottom surface in the arc groove 12, it can be understood that, when the upper wing 7 and the lower wing 8 of the unmanned aerial vehicle are in the folded state, the end of the slider 11 is abutted or slidingly connected with the arc groove 12, the end of the limit boss 601 is not in contact with the upper wing or the lower wing, in the unfolding process, the slider 11 slides from one end of the arc groove 12 to the other end, the compression spring 5 provides an axial force for the slider 11, and in the contact section 121 between the slider 11 and the arc groove 12, the axial force of the compression spring 5 is partially decomposed into a transverse force to the slider 11, the transverse force is the same as the direction of the torsion force of the torsion spring 4 driving the unfolding, and by the cooperation of the torsion spring 4 and the compression spring 5, the wing is easier to unfold, the mass of the wing is not changed under the condition that the mass of the torsion spring 4 and the compression spring 5 and the energy storage is not changed, the mass of the expansion of the slider 11 is not changed, the material is shortened, and the time of the material is shortened under the condition that the mass is not is reduced, and the expansion of the mass is ensured, and the time is reduced.
More, in order to ensure the unfolding speed of the wing, in the unfolding and folding processes of the upper wing 7 and the lower wing 8 of the unmanned aerial vehicle, the rotating shaft 1 is required to have higher structural strength so as to bear bending stress, torsional stress and impact load caused by high-speed rotation of the wing, in the embodiment, the sliding block 11 is always arranged in the arc-shaped groove 12 in a sliding manner in the folding and unfolding processes of the wing, so that the moment arm from the tail end of the wing to the rotating shaft is reduced, part of moment or impact load of the wing to the rotating shaft 1 is shared by the sliding block 11 and the arc-shaped groove 12, the strength requirement to the rotating shaft 1 is reduced, and an effective way is provided for reducing the mass of the fuselage under the condition of ensuring the rigidity and the strength.
In embodiment 6, further, referring to fig. 7, in this embodiment, a first inclined plane 603 is provided on one side of the limiting boss, a second inclined plane 604 is correspondingly provided on the pit 602, after the wing is unfolded to a specified position, the first inclined plane 603 of the limiting boss 601 is drawn down into the bottom of the pit 602 along the second inclined plane 604 of the pit 602 under the action of the compression spring 5, so that the unmanned aerial vehicle is more stable in unfolding process, and the impact and vibration in the unfolding process are reduced.
More, in the structure provided in this embodiment, when the upper wing 7 and the lower wing 8 are in the folded state, the sliding block 11 abuts against the contact section 121 of the arc-shaped groove 12, as the wings are unfolded, the sliding block 11 slides down along the contact section 121, the sliding block 11 partially breaks down the axial force of the sliding block 11 by the compression spring 5 in the contact section 121 into a transverse force, when the sliding block 11 is separated from the contact section 121, the limiting boss 601 starts to slide down with the upper wing 7 or the lower wing 8, the first inclined plane 603 starts to slide down along the second inclined plane 604 of the pit 602, the limiting boss 601 converts the axial force of the compression spring 5 into a transverse force, and the unfolding capability of the unfolding mechanism is greatly improved, so that the quality of the used material is minimized under the condition of ensuring the proper unfolding capability, the lighter structure not only can reduce the energy consumption, enable the unmanned aerial vehicle to perform tasks more efficiently, but also improve the effective load capability of the unmanned aerial vehicle, enable the unmanned aerial vehicle to carry more devices and sensors, and expand the functions and application range thereof.
Embodiment 7, further, in this embodiment, the end portion of the engaging protrusion 601 that engages with the pit 602 is a flexible end, after the engaging protrusion 601 engages with the pit 602, the flexible end has sufficient rigidity and strength, so as to ensure that the engaging protrusion 601 can cooperate with the pit 602 to provide a stable fixing effect during the wing unfolding process, and meanwhile, the strength of the flexible end ensures that the unmanned aerial vehicle can effectively resist the air pressure and the wind force during the flying process, so as to maintain the stability of the wing unfolding and the locking mechanism. And secondly, the flexible end head has certain elasticity, tiny deformation and rebound can be generated when the wing is subjected to external force, so that when the wing is allowed to be unfolded to a designated position, the wing slightly forwards exceeds the designated position under the action of unfolding inertia force, and then the wing is rotated backwards under the action of the elastic force of the flexible end head, so that the wing generates rotary vibration with very small amplitude and higher frequency around the rotating shaft 1 after the wing is at the designated unfolding position, the moderate rotary vibration is favorable for inhibiting the generation of other unfavorable vibration, the wing is helped to reach a stable state more quickly, the forward flying speed of the unmanned aerial vehicle is increased by increasing the forward thrust of the wing to a certain extent, and the flying performance of the folded wing unmanned aerial vehicle is positively influenced. Meanwhile, the impact force and vibration amplitude of the wing at the locking moment are reduced, the wing structure is protected, the wing is better adapted to airflow interference in flight, a certain buffering and damping effect is achieved, the flexible end head can absorb part of vibration energy, and the influence of vibration on the wing structure in flight is reduced.
Embodiment 8, this embodiment still provides an unmanned aerial vehicle, this unmanned aerial vehicle includes that above-mentioned embodiment unmanned aerial vehicle folding wing expands and locking mechanism, this wing expands and the concrete structure of locking machine reference each embodiment above, because this embodiment unmanned aerial vehicle has adopted all technical scheme of above-mentioned embodiment 1-7, consequently this embodiment unmanned aerial vehicle has all technical effects that the technical scheme of above-mentioned embodiment brought, so the beneficial effect that has to this embodiment unmanned aerial vehicle is unnecessary.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. A folding wing unfolding and locking mechanism of a small unmanned aerial vehicle is characterized in that,
comprises a rotating shaft, a first unfolding piece and a second unfolding piece, wherein one end of the first unfolding piece and one end of the second unfolding piece are rotatably connected to the rotating shaft, the other ends of the first unfolding piece and the second unfolding piece are respectively connected with an upper wing and a lower wing,
the device comprises a main body, a first unfolding piece, a second unfolding piece, a torsion spring, a compression spring, a lock catch, a locking mechanism and a locking mechanism, wherein the two connecting ends of the torsion spring are fixedly connected with the first unfolding piece and the second unfolding piece respectively, so that when an upper wing and a lower wing are folded around a rotating shaft, the torsion spring is used for torsion energy storage, and torque for unfolding two sides of the main body is applied to the upper wing and the lower wing; the compression spring is wound on the outer side of the rotating shaft, one end of the compression spring is abutted against the first expanding piece or the second expanding piece, the lock catch is arranged on the upper wing and/or the lower wing, the lock catch at least comprises a limiting boss and a pit, when the upper wing and the lower wing are expanded to the two sides of the fuselage to the appointed position, the limiting boss is overlapped with the pit, and meanwhile, the compression spring provides axial locking force for the lock catch, so that automatic locking after the wing rotates to the appointed position is realized.
2. The unmanned aerial vehicle fold wing deployment and locking mechanism of claim 1, wherein,
a first annular cavity is arranged between the first unfolding piece and the second unfolding piece, the torsion spring is wound in the first annular cavity, a second annular cavity is arranged on the first unfolding piece, the compression spring is wound in the second annular cavity, and the projection of the second annular cavity and the first annular cavity on the rotating shaft is at least partially overlapped.
3. The unmanned aerial vehicle folding wing deployment and locking mechanism of claim 2, wherein,
the torsion spring is a plane scroll spring, an inner hook and an outer hook are arranged on the plane scroll spring, the inner hook is fixedly connected with the first unfolding piece to form a movable end of the plane scroll spring, and the movable end can drive the first unfolding piece to rotate around a rotating shaft; the outer hook is fixedly connected with the second unfolding piece to form a movable end, and can drive the second unfolding piece to rotate around the rotating shaft; the compression spring is a wave spring, an end cover is arranged at the end part of the rotating shaft, and two ends of the wave spring are respectively abutted with the end cover and the first expanding piece.
4. The folding wing deployment and locking mechanism of unmanned aerial vehicle of any of claims 1-3, wherein,
one end of the limiting boss is fixed on the upper wing and/or the lower wing, and when the upper wing and the lower wing of the unmanned aerial vehicle are in a folded state, the other end of the limiting boss is in abutting connection or sliding connection with the lower wing and/or the upper wing.
5. The folding wing deployment and locking mechanism of claim 4, wherein,
the pits are arranged on the upper wing and/or the lower wing, and the unfolding positions of the upper wing and the lower wing of the unmanned aerial vehicle to the two sides of the fuselage are controlled through the angles between the limiting bosses and the pits.
6. The unmanned aerial vehicle fold wing deployment and locking mechanism of claim 5, wherein,
one side of the limiting boss is provided with a first inclined plane, the pit is correspondingly provided with a second inclined plane, and the first inclined plane is in butt joint or sliding connection with the second inclined plane when the wing is unfolded.
7. The unmanned aerial vehicle folding wing deployment and locking mechanism of claim 6, further comprising,
the sliding block and the arc-shaped groove matched with the sliding block, one end of the sliding block is fixedly connected with the upper wing and/or the lower wing, and the other end of the sliding block is abutted or in sliding connection with the bottom surface of the arc-shaped groove.
8. The unmanned aerial vehicle fold wing deployment and locking mechanism of claim 7, wherein,
the bottom surface of the arc-shaped groove is obliquely arranged along the sliding direction of the sliding block, and when the wing of the unmanned aerial vehicle is unfolded from the folded state to the two sides of the fuselage, the limiting boss slides from the higher end of the bottom surface to the lowest end of the bottom surface;
the end part of the limiting boss matched with the pit is a flexible end, the strength and the rigidity of the flexible end ensure that the limiting boss can provide a stable fixing effect with the pit in the wing unfolding process, the locking of the wing after rotating to a designated position is realized, and meanwhile, the rigidity and the strength of the flexible end ensure that the unmanned aerial vehicle can effectively resist the action of air pressure and wind force in the flight process, and the stability of the wing unfolding and locking mechanism is maintained.
9. A folding wing unfolding and locking mechanism for a small unmanned aerial vehicle according to any one of claims 1 to 3, wherein one end of the rotating shaft is connected to a fuselage of the unmanned aerial vehicle, after the upper wing and the lower wing of the unmanned aerial vehicle are folded towards the fuselage, the upper wing and the lower wing are kept at folding positions by an external limiting means, and after the external limiting is cancelled, the upper wing and the lower wing are automatically unfolded towards two sides of the fuselage of the unmanned aerial vehicle by torsion moment stored by torsion springs.
10. A unmanned aerial vehicle comprising a unmanned aerial vehicle fold wing deployment and locking mechanism as claimed in any one of claims 1 to 9.
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