CN117985259A

CN117985259A - Unmanned aerial vehicle with spatially continuous deformation wing

Info

Publication number: CN117985259A
Application number: CN202410193549.0A
Authority: CN
Inventors: 王晓明; 白梓健; 林俊杰; 梁富诚; 孙宇航; 王恩美; 胡欣涵; 周文雅
Original assignee: Guangzhou University
Current assignee: Guangzhou University
Priority date: 2024-02-21
Filing date: 2024-02-21
Publication date: 2024-05-07

Abstract

The invention discloses an unmanned aerial vehicle with a spatially continuous deformation wing, which comprises a fuselage, two deformation devices and a power device. The two deformation devices are symmetrically arranged on two sides of the machine body, each deformation device comprises a swinging part and a rotating part, each swinging part is connected with the machine body through a plane connecting rod mechanism, each rotating part is arranged inside the corresponding swinging part in a nested mode, two ends of each rotating part extend out of the corresponding swinging part, one end of each rotating part is fixedly connected with a wing on the corresponding side, and the other end of each rotating part is connected with the machine body through a space connecting rod mechanism. The power device is arranged on the machine body and is in driving connection with the plane connecting rod mechanism, and the power device drives the swinging part to swing through the plane connecting rod mechanism and is used for achieving folding and unfolding of the wing. Wherein, swing portion swing in-process, space link mechanism can drive rotation portion and rotate in swing portion in order to be used for realizing the rotation of wing along self axis direction, realizes the continuous deformation of wing in space, simple structure alleviates whole quality, has better universality.

Description

Unmanned aerial vehicle with spatially continuous deformation wing

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle with a spatially continuous deformation wing.

Background

With the development of aerospace technology, the requirements of human beings on the working performance of various aircrafts are higher and higher. The complex and changeable flight conditions, the performance requirements on operators and aircrafts are higher and higher, in order to adapt to more flight conditions, the operation technology of the lifting operators is higher in the self adaptability difficulty and time cost of the lifting aircrafts, and the novel aircrafts adapting to more conditions can obtain more ideal aerodynamic performance compared with the traditional aircrafts.

Therefore, the unmanned aerial vehicle with the foldable and deformable wings is arranged, the wings can be close to the fuselage through folding, and the wings can rotate around the longitudinal axis of the unmanned aerial vehicle at the same time so as to be better close to the fuselage. Currently, extensive studies have been conducted on the mechanism of deformation, but there is still room for improvement in the stability and quality of the deformation apparatus. In a vertical take-off and landing variant unmanned aerial vehicle with a tiltable, foldable and telescopic wing in the publication number CN116215907A, the wing adopts a double-rotating-shaft mechanism to carry out space deformation, but the structure uses a large number of elements, the weight of the whole aircraft body is increased, a complex control system is difficult to design and debug, and the deformation state is converted into a large impact, so that smooth deformation is difficult to realize and the service life of each part is short.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the unmanned aerial vehicle with the spatially continuous deformation wings provided by the invention can realize spatially continuous deformation and has high reliability.

According to the embodiment of the invention, the unmanned aerial vehicle with the spatially continuous deformation wings comprises a fuselage, two deformation devices and a power device. The two deformation devices are symmetrically arranged on two sides of the machine body, each deformation device comprises a swinging part and a rotating part, each swinging part is hinged to the machine body, one side of each swinging part is connected with the machine body through a plane connecting rod mechanism, each rotating part is arranged inside the swinging part in a nested mode, two ends of each rotating part extend out of the corresponding swinging part, one end of each rotating part is fixedly connected with a wing on the corresponding side, and the other end of each rotating part is connected with the machine body through a space connecting rod mechanism. The power device is arranged on the machine body and is in driving connection with the plane connecting rod mechanism, and the power device drives the swinging part to swing through the plane connecting rod mechanism so as to be used for achieving folding and unfolding of the wing. In the swinging process of the swinging part, the space link mechanism can drive the rotating part to rotate in the swinging part so as to realize the rotation of the wing along the axis direction of the wing.

According to the embodiment of the invention, the unmanned aerial vehicle with the spatially continuous deformation wings has at least the following beneficial effects:

The invention of the embodiment is applied, the power device is used for providing power to drive the plane connecting rod mechanism to move, the plane connecting rod mechanism drives the swinging part to rotate, so that the wing is driven to fold and unfold, the transfer force in the middle of the swinging process of the swinging part is converted into the torque of the rotating part, the rotation of the rotating part is realized under the action of the space connecting rod mechanism, the rotation of the wing along the axis direction of the wing is realized, the swinging motion of the wing is overlapped with the rotation motion along the axis of the wing, the continuous deformation of the wing on the space is realized, the structure is simple, the integral mass ratio of the deformation device in an airplane is greatly reduced, the conversion of the unfolding and folding motion state of the wing can be realized by only one power device continuously, the operation and the debugging are simpler, the stability of the integral deformation process is stronger, the impact is smaller, the service life of the deformation device can be prolonged, the flying working condition can be well adapted, and the universality is better.

According to some embodiments of the invention, the oscillating portion comprises a tube, a first U-shaped member and a second U-shaped member. The first U-shaped piece is fixedly sleeved on the pipe body, and two support arms of the first U-shaped piece are hinged with the machine body. The second U-shaped piece is slidably sleeved on the pipe body, and the plane connecting rod mechanism is connected between the two support arms of the second U-shaped piece and the machine body.

According to some embodiments of the invention, a reinforcing rod is arranged between the first U-shaped piece and the pipe body.

According to some embodiments of the invention, the power plant includes a motor, a first bevel gear, two second bevel gears, and a power disc. The output shaft of the motor is horizontally arranged. The first bevel gear is connected with the output shaft. The two second bevel gears are symmetrically arranged on the upper portion and the lower portion of the first bevel gear and meshed with the first bevel gear, each second bevel gear is connected with a power rod, the length direction of each power rod is perpendicular to the length direction of the machine body, and the rotation of each second bevel gear can drive the corresponding power rod to reciprocate along the length direction of the corresponding power rod. The power disc is rotatably arranged on the machine body, the power disc is connected with one end of each power rod, which is far away from the second bevel gear, and the power disc is in driving connection with the two plane link mechanisms on the corresponding sides.

According to some embodiments of the invention, the power disc comprises two disc bodies which are arranged at intervals up and down, the two disc bodies are connected through a connecting column, and one end of the power rod, which is far away from the second bevel gear, is rotatably sleeved with the connecting column.

According to some embodiments of the invention, the upper end and the lower end of the power disc are respectively provided with a transmission rod, the power disc is rotatably arranged on the machine body through two transmission rods, and the two transmission rods are respectively in driving connection with the two corresponding plane link mechanisms.

According to some embodiments of the invention, an end of the rotating part, which is far away from the wing, is of a tubular structure, and the space linkage mechanism comprises an inclined rotating shaft, a spherical connecting piece and a connecting seat. The inclined rotating shaft penetrates through the pipe wall of the rotating part at an angle and can move along the penetrating direction. One end of the spherical connecting piece is connected with the inclined rotating shaft, and the other end of the spherical connecting piece is provided with a spherical part. The connecting seat is rotatably arranged on the machine body and is hinged with the spherical part.

According to some embodiments of the invention, the fuselage is provided with a receiving compartment corresponding to the installation position of the deformation devices, and the deformation devices are all located in the receiving compartment.

According to some embodiments of the invention, a mounting frame is arranged in the accommodating bin, the mounting frame is fixedly connected with the inner wall of the accommodating bin, the swinging part is hinged with the mounting frame, and the plane link mechanism is mounted on the mounting frame.

According to some embodiments of the invention, the end face of the rotating part near one end of the wing is provided with a protrusion, and the end face of the wing near one end of the rotating part is provided with a groove, and the groove is matched with the protrusion.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The invention is further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a schematic structural view of a drone with spatially continuous morphing wings according to one embodiment of the present invention;

FIG. 2 is an enlarged view at A in FIG. 1;

FIG. 3 is a schematic structural view of a morphing device for a drone with spatially continuous morphing wings according to one embodiment of the invention;

FIG. 4 is a schematic structural view of a power plant of a unmanned aerial vehicle with spatially continuous morphing wings according to an embodiment of the present invention;

FIG. 5 is a state diagram of an extended unmanned aerial vehicle with spatially continuous morphing wings according to one embodiment of the present invention;

FIG. 6 is a fully collapsed state diagram of a drone with spatially continuous morphing wings according to one embodiment of the invention;

Reference numerals:

100. a body; 101. a receiving bin; 102. a mounting frame;

110. A deforming means; 111. a swinging part; 1110. a tube body; 1111. a first U-shaped piece; 1112. a second U-shaped piece; 1113. a reinforcing rod; 112. a rotating part; 113. a planar link mechanism; 114. a space linkage mechanism; 1140. a rotating shaft is obliquely arranged; 1141. a spherical connector; 1142. a connecting seat;

120. A power device; 121. a motor; 122. a first bevel gear; 123. a second bevel gear; 124. a power disc; 1240. a tray body; 1241. a connecting column; 1242. a transmission rod; 125. a power lever;

200. and (3) a wing.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.

Referring to fig. 1 to 6, an unmanned aerial vehicle having spatially continuous morphing wings according to an embodiment of the present invention includes a fuselage 100, two morphing devices 110, and a power device 120. The two deformation devices 110 are symmetrically arranged on two sides of the machine body 100, the deformation devices 110 comprise a swinging part 111 and a rotating part 112, the swinging part 111 is hinged with the machine body 100, one side of the swinging part 111 is connected with the machine body 100 through a plane link mechanism 113, the rotating part 112 is arranged inside the swinging part 111 in a nested manner, two ends of the rotating part 112 extend out of the swinging part 111, one end of the rotating part 112 is fixedly connected with a wing 200 on the corresponding side, and the other end of the rotating part 112 is connected with the machine body 100 through a space link mechanism 114. The power device 120 is arranged on the machine body 100, the power device 120 is in driving connection with the plane link mechanism 113, and the power device 120 drives the swinging part 111 to swing through the plane link mechanism 113 so as to be used for achieving folding and unfolding of the wing 200. In the swinging process of the swinging part 111, the space linkage 114 can drive the rotating part 112 to rotate in the swinging part 111 so as to realize the rotation of the wing 200 along the axis direction thereof.

By applying the invention of the embodiment, the power device 120 provides power to drive the planar link mechanism 113 to move, the planar link mechanism 113 drives the swinging part 111 to rotate, so that the wing 200 is driven to be folded and unfolded, the transfer force in the middle of the swinging process of the swinging part 111 is converted into the torque of the rotating part 112, the rotation of the rotating part 112 is realized under the action of the spatial link mechanism 114, so that the rotation of the wing 200 along the axis direction of the wing is realized.

Referring to fig. 2 to 3, it can be understood that in the present embodiment, the swinging portion 111 is connected to the fuselage 100, and the rotating portion 112 in the swinging portion 111 is connected to the wing 200, so that the swinging portion 111 serves as a main bearing member of the deformation device 110 to bear the overall load of the wing 200, and the thickness of the swinging portion 111 can be increased, and the bearing capacity of the swinging portion 111 can be improved and the stability of the movement of the wing 200 can be improved by making the swinging portion 111 from a high-strength material.

Referring to fig. 2 to 3, in some embodiments of the present invention, the swing portion 111 includes a tube 1110, a first U-shaped member 1111, and a second U-shaped member 1112. The first U-shaped member 1111 is fixedly sleeved on the pipe body 1110, and two support arms of the first U-shaped member 1111 are hinged with the machine body 100. The second U-shaped member 1112 is slidably sleeved on the tube 1110, and a planar linkage 113 is connected between two arms of the second U-shaped member 1112 and the body 100. The plane link mechanism 113 moves under the drive of the power device 120 and transmits power to the second U-shaped piece 1112, and the second U-shaped piece 1112 drives the swinging part 111 to swing relative to the machine body 100, so that the rotating part 112 in the swinging part 111 drives the wing 200 to swing, and folding and unfolding of the wing 200 are realized.

Referring to fig. 2 to 3, in some embodiments of the present invention, a reinforcing rod 1113 is disposed between the first U-shaped member 1111 and the pipe body 1110, and the reinforcing rod 1113 is configured to increase the strength of the swing portion 111 and increase the bearing capacity of the swing portion 111.

Referring to fig. 4, in some embodiments of the present invention, the power unit 120 includes a motor 121, a first bevel gear 122, two second bevel gears 123, and a power disc 124. The output shaft of the motor 121 is horizontally disposed. The first bevel gear 122 is connected to the output shaft. The two second bevel gears 123 are symmetrically disposed at the upper and lower parts of the first bevel gear 122 and engaged with the first bevel gear 122, each second bevel gear 123 is connected with a power rod 125, the length direction of the power rod 125 is perpendicular to the length direction of the machine body 100, and the rotation of the second bevel gears 123 can drive the power rod 125 to reciprocate along the length direction thereof. A power disc 124 is rotatably provided on the main body 100, the power disc 124 is connected to one end of each power rod 125 remote from the second bevel gear 123, and the power disc 124 is drivingly connected to the two planar linkages 113 on the corresponding side. The upper part and the lower part of the first bevel gear 122 are respectively provided with a second bevel gear 123, the output power of the motor 121 can be synchronously transmitted to the two second bevel gears 123, the power of the second bevel gears 123 is transmitted to the corresponding power rod 125, the power rod 125 transmits the power to the power disc 124, the power disc 124 transmits the power to the plane connecting rod mechanism 113 in the deformation device 110, and the synchronous deformation of the wings 200 at two sides of the machine body 100 is realized.

Referring to fig. 4, in some embodiments of the present invention, the power disc 124 includes two discs 1240 disposed at an upper and lower interval, the two discs 1240 are connected by a connecting post 1241, and an end of the power rod 125 remote from the second bevel gear 123 is rotatably coupled to the connecting post 1241. The second bevel gear 123 rotates to drive the power rod 125 to move, so as to drive the power disc 124 to rotate, and the power disc 124 rotates to power the deforming device 110.

Referring to fig. 4, in detail, the power disc 124 is provided at both upper and lower ends thereof with transmission rods 1242, the power disc 124 is rotatably mounted on the body 100 through two transmission rods 1242, and the two transmission rods 1242 are respectively in driving connection with the corresponding two planar linkage 113.

Referring to fig. 2-3, in some embodiments of the invention, the end of the rotating portion 112 remote from the wing 200 is a tubular structure, and the space linkage 114 includes a canted shaft 1140, a spherical connector 1141, and a connector socket 1142. The oblique rotation shaft 1140 penetrates the pipe wall of the rotation portion 112 at an angle, and can move along the penetrating direction. One end of the spherical connecting member 1141 is connected to the inclined shaft 1140, and the other end is provided with a spherical portion. A connector 1142 is rotatably mounted to the body 100, the connector 1142 being hinged to the ball. During the swinging of the swinging part 111, the rotating part 112 reacts to the rotating part 112 by the space linkage 114, and part of the swinging power is converted into a torque for rotating the rotating part 112 along the axis thereof.

Referring to fig. 1,2, 5 and 6, in some embodiments of the present invention, the housing 101 is disposed at a mounting position of the body 100 corresponding to the deformation device 110, and the deformation device 110 is disposed in the housing 101, so as to provide a certain protection effect for the deformation device 110.

Referring to fig. 2 to 3, in some embodiments of the present invention, a mounting frame 102 is provided in the accommodating chamber 101, the mounting frame 102 is fixedly connected to an inner wall of the accommodating chamber 101, the swing portion 111 is hinged to the mounting frame 102, and a planar linkage 113 is mounted on the mounting frame 102.

In some embodiments of the invention, the end surface of the rotating portion 112 near the end of the wing 200 is provided with a protrusion, and the end surface of the wing 200 near the end of the rotating portion 112 is provided with a groove, and the groove is matched with the protrusion. The protrusion and groove interface enables the connection of the rotation portion 112 to the wing 200 and prevents the two from rotating relative to each other in the circumferential direction.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An unmanned aerial vehicle having spatially continuous morphing wings, comprising:

A body;

The two deformation devices are symmetrically arranged on two sides of the machine body, each deformation device comprises a swinging part and a rotating part, each swinging part is hinged with the machine body, one side of each swinging part is connected with the machine body through a plane connecting rod mechanism, each rotating part is arranged in the swinging part in a nested manner, two ends of each rotating part extend out of the swinging part, one end of each rotating part is fixedly connected with a wing on the corresponding side, and the other end of each rotating part is connected with the machine body through a space connecting rod mechanism; and

The power device is arranged on the machine body and is in driving connection with the plane connecting rod mechanism, and the power device drives the swinging part to swing through the plane connecting rod mechanism so as to be used for achieving folding and unfolding of the wing;

In the swinging process of the swinging part, the space link mechanism can drive the rotating part to rotate in the swinging part so as to realize the rotation of the wing along the axis direction of the wing.

2. The unmanned aerial vehicle with spatially continuous morphing wing of claim 1, wherein the swing comprises:

a tube body;

The first U-shaped piece is fixedly sleeved on the pipe body, and two support arms of the first U-shaped piece are hinged with the machine body;

the second U-shaped piece is slidably sleeved on the pipe body, and the plane connecting rod mechanism is connected between the two support arms of the second U-shaped piece and the machine body.

3. The unmanned aerial vehicle with spatially-continuously-deformed wings of claim 2, wherein: and a reinforcing rod is arranged between the first U-shaped piece and the pipe body.

4. The unmanned aerial vehicle having spatially continuous morphing wings of claim 2, wherein the power plant comprises:

The output shaft of the motor is horizontally arranged;

the first bevel gear is connected with the output shaft;

The two second bevel gears are symmetrically arranged on the upper part and the lower part of the first bevel gear and meshed with the first bevel gear, each second bevel gear is connected with a power rod, the length direction of each power rod is perpendicular to the length direction of the machine body, and the rotation of each second bevel gear can drive the corresponding power rod to reciprocate along the length direction of the corresponding power rod; and

The power disc is rotatably arranged on the machine body, the power disc is connected with one end of each power rod, which is far away from the second bevel gear, and the power disc is in driving connection with the two plane connecting rod mechanisms on the corresponding sides.

5. The unmanned aerial vehicle with spatially-continuously-deformed wings of claim 4, wherein: the power disc comprises two disc bodies which are arranged at intervals up and down, the two disc bodies are connected through a connecting column, and one end, away from the second bevel gear, of the power rod is rotatably sleeved with the connecting column.

6. The unmanned aerial vehicle with spatially-continuously-deformed wings of claim 4, wherein: the upper end and the lower extreme of power dish all are equipped with the transfer line, the power dish passes through two the transfer line is rotationally installed on the fuselage, two the transfer line respectively with two of correspondence planar link mechanism drive connection.

7. The unmanned aerial vehicle with spatially-continuously-deformed wings of claim 1, wherein: one end of the rotating part far away from the wing is of a tubular structure, and the space link mechanism comprises:

the inclined rotating shaft penetrates through the pipe wall of the rotating part at an angle and can move along the penetrating direction;

One end of the spherical connecting piece is connected with the inclined rotating shaft, and the other end of the spherical connecting piece is provided with a spherical part; and

And the connecting seat is rotatably arranged on the machine body and is hinged with the spherical part.

8. The unmanned aerial vehicle with spatially-continuously-deformed wings of claim 1, wherein: the machine body is provided with a containing bin corresponding to the installation position of the deformation device, and the deformation devices are all located in the containing bin.

9. The unmanned aerial vehicle with spatially-continuously-deformed wings of claim 8, wherein: the device comprises a bin, and is characterized in that a mounting frame is arranged in the bin, the mounting frame is fixedly connected with the inner wall of the bin, the swinging part is hinged with the mounting frame, and the plane connecting rod mechanism is mounted on the mounting frame.

10. The unmanned aerial vehicle with spatially-continuously-deformed wings of claim 1, wherein: the end face, close to one end of the wing, of the rotating part is provided with a protrusion, the end face, close to one end of the rotating part, of the wing is provided with a groove, and the groove is matched with the protrusion.