CN217074770U - Fixed-wing unmanned aerial vehicle with automatic folding wings - Google Patents
Fixed-wing unmanned aerial vehicle with automatic folding wings Download PDFInfo
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Abstract
Description
技术领域technical field
本实用新型涉及一种固定翼无人机，特别是涉及一种能够自动折叠机翼的固定翼无人机，属于无人机技术领域。The utility model relates to a fixed-wing unmanned aerial vehicle, in particular to a fixed-wing unmanned aerial vehicle capable of automatically folding wings, belonging to the technical field of unmanned aerial vehicles.
背景技术Background technique
目前，无人机已经成为商业、农业、政府和消费应用的重要工具，广泛应用于森林、石油、农业植保以及公用事业领域。固定翼无人机由于机架和机翼的固定式设计，因此刚度好,飞行中相对于旋翼无人机振动小、噪声小、操控性好，运行更加平稳,载荷更大。但由于固定翼无人机机翼大多比较细长，所占空间比较大，这就在运输、存放等方面带来了许多不便。为此可以采用固定机翼折叠的方法，在不使用时, 将机翼折叠起来贴近机体，使得飞机横向尺寸大大缩小，方便存放和运输。现在的机翼折叠大多通过手动的方法实现，费时费力，不够方便快捷，在某些场合应用会比较困难。机翼折叠机构常采用机械传动的方式实现机翼的折叠、展开，如连杆机构、齿轮机构和弹簧机构。这些折叠机构在折叠过程中存在受力不好、折叠或展开后稳定性较差的问题。At present, drones have become an important tool for commercial, agricultural, government and consumer applications, and are widely used in forest, oil, agricultural plant protection and public utilities. Due to the fixed design of the frame and wings, the fixed-wing UAV has good rigidity, less vibration, less noise, better controllability, more stable operation, and greater load in flight than the rotary-wing UAV. However, because the wings of fixed-wing UAVs are mostly slender and occupy a large space, this brings a lot of inconvenience in transportation and storage. To this end, the method of fixed wing folding can be adopted. When not in use, the wings are folded up and close to the body, which greatly reduces the lateral size of the aircraft and facilitates storage and transportation. Most of the current wing folding is achieved by manual methods, which are time-consuming and labor-intensive, not convenient and fast, and it will be difficult to apply in some occasions. The wing folding mechanism often uses mechanical transmission to realize the folding and unfolding of the wing, such as link mechanism, gear mechanism and spring mechanism. These folding mechanisms have problems of poor force during the folding process and poor stability after folding or unfolding.
发明内容SUMMARY OF THE INVENTION
基于以上原因，本实用新型提出一种自动折叠机翼的固定翼无人机，由一个电机驱动锥齿轮，通过锥齿轮组成的行星轮系带动连杆机构运动，完成机翼的自动折叠与展开，有效解决固定翼无人机机翼的自动折叠问题。Based on the above reasons, the present utility model proposes a fixed-wing UAV with automatic wing folding, which is driven by a motor to drive a bevel gear, and a planetary gear train composed of bevel gears drives the linkage mechanism to move to complete the automatic folding and unfolding of the wings. , effectively solve the problem of automatic folding of fixed-wing UAV wings.
一种自动折叠机翼的固定翼无人机，包括机体1、右机翼2、左机翼3、右连杆4、右曲柄5、右行星锥齿轮6、右行星锥齿轮轴7、主轴8、右固定锥齿轮9、从动锥齿轮10、左固定锥齿轮11、左行星锥齿轮轴12、左连杆13、左曲柄14、左行星锥齿轮15、主动锥齿轮16、传动轴17、联轴器18、驱动电机19、右机翼拉杆20、左机翼拉杆21、右支座22、右齿轮座23、左齿轮座24、左支座25和主动锥齿轮座26。右连杆4、右曲柄5、右行星锥齿轮6、右行星锥齿轮轴7、主轴8、右固定锥齿轮9、从动锥齿轮10、左固定锥齿轮11、左行星锥齿轮轴12、左连杆13、左曲柄14、左行星锥齿轮15、主动锥齿轮16、传动轴17、联轴器18、驱动电机19、右机翼拉杆20、左机翼拉杆21、右支座22、右齿轮座23、左齿轮座24、左支座25和主动锥齿轮座26组成机翼自动折叠机构。A fixed-wing UAV with automatic folding wings, comprising a
驱动电机19固定安装在机体1中部，通过联轴器18与传动轴17相连，且传动轴17安装在主动锥齿轮座26上，主动锥齿轮座26固定在机体1上，主动锥齿轮16固定安装在传动轴17端部。右支座22、右齿轮座23、左齿轮座24、左支座25对称固定在机体1上。主轴8安装在右支座22与左支座25上，从动锥齿轮10固定安装在主轴8中部，并与主动锥齿轮16进行齿轮配合。右机翼2、左机翼3分别通过销轴对称安装在主轴8两端。右固定锥齿轮9固定在右齿轮座23上，左固定锥齿轮11固定在左齿轮座24上。主轴8从右固定锥齿轮9、左固定锥齿轮11中间穿过。右行星锥齿轮轴7垂直固定在主轴8上，而且在右固定锥齿轮9外侧。右行星锥齿轮6安装在右行星锥齿轮轴7末端，并与右固定锥齿轮9齿轮配合。左行星锥齿轮轴12垂直固定在主轴8上，而且在左固定锥齿轮11外侧。左行星锥齿轮15安装在左行星锥齿轮轴12末端，并与左固定锥齿轮11齿轮配合。右曲柄5固定安装在右行星锥齿轮6外侧，右机翼拉杆20固定安装在右机翼2底部左端，右曲柄5和右机翼拉杆20之间通过右连杆4连接，组成右连杆机构；左曲柄14固定安装在左行星锥齿轮15外侧，左机翼拉杆21固定安装在左机翼3底部右端，左曲柄14和左机翼拉杆21之间通过左连杆13连接，组成左连杆机构。The
本实用新型装置的有益效果是：The beneficial effects of the device of the present utility model are:
（1）通过连杆机构和锥齿轮行星轮系组合相互配合实现了无人机机翼自动折叠，完成机翼绕主轴旋转90度，同时向机体方向折叠90度，使机翼贴在机体一侧；(1) The automatic folding of the wing of the drone is realized through the combination of the linkage mechanism and the bevel gear planetary gear train. side;
（2）机翼折叠与伸展时的两个极限位置为连杆机构中曲柄与连杆两次共线的位置，此时，连杆机构具有较强的稳定性，有利于无人机机翼折叠与展开状态的保持。(2) The two extreme positions when the wing is folded and stretched are the two collinear positions of the crank and the connecting rod in the connecting rod mechanism. At this time, the connecting rod mechanism has strong stability, which is beneficial to the wing of the UAV. The preservation of folded and unfolded states.
附图说明Description of drawings
图1为本实用新型一种自动折叠机翼的固定翼无人机的整体示意图；1 is an overall schematic diagram of a fixed-wing unmanned aerial vehicle with automatic folding wings of the present invention;
图2为本实用新型机翼自动折叠机构的局部示意图视角1；Fig. 2 is the partial
图3为本实用新型机翼自动折叠机构的局部示意图视角2；FIG. 3 is a partial
图4为本实用新型一种自动折叠机翼的固定翼无人机的折叠效果示意图；4 is a schematic diagram of the folding effect of a fixed-wing UAV with automatic folding wings of the present invention;
图5为本实用新型机翼展开时左连杆13与左曲柄14共线示意图；5 is a schematic diagram of the collinearity of the left connecting
图6为本实用新型机翼折叠时左连杆13与左曲柄14共线示意图；Fig. 6 is the collinear schematic diagram of the left connecting
图7为本实用新型机翼折叠运动原理图。FIG. 7 is a schematic diagram of the wing folding motion of the utility model.
具体实施方式Detailed ways
结合附图1-7对本发明的结构和操作进行说明。The structure and operation of the present invention will be described with reference to Figures 1-7.
一种自动折叠机翼的固定翼无人机，包括机体1、右机翼2、左机翼3、右连杆4、右曲柄5、右行星锥齿轮6、右行星锥齿轮轴7、主轴8、右固定锥齿轮9、从动锥齿轮10、左固定锥齿轮11、左行星锥齿轮轴12、左连杆13、左曲柄14、左行星锥齿轮15、主动锥齿轮16、传动轴17、联轴器18、驱动电机19、右机翼拉杆20、左机翼拉杆21、右支座22、右齿轮座23、左齿轮座24、左支座25和主动锥齿轮座26。右连杆4、右曲柄5、右行星锥齿轮6、右行星锥齿轮轴7、主轴8、右固定锥齿轮9、从动锥齿轮10、左固定锥齿轮11、左行星锥齿轮轴12、左连杆13、左曲柄14、左行星锥齿轮15、主动锥齿轮16、传动轴17、联轴器18、驱动电机19、右机翼拉杆20、左机翼拉杆21、右支座22、右齿轮座23、左齿轮座24、左支座25和主动锥齿轮座26组成机翼自动折叠机构。A fixed-wing UAV with automatic folding wings, comprising a
驱动电机19固定安装在机体1中部，通过联轴器18与传动轴17相连，且传动轴17安装在主动锥齿轮座26上，主动锥齿轮座26固定在机体1上，主动锥齿轮16固定安装在传动轴17端部。右支座22、右齿轮座23、左齿轮座24、左支座25对称固定在机体1上。主轴8安装在右支座22与左支座25上，从动锥齿轮10固定安装在主轴8中部，并与主动锥齿轮16进行齿轮配合。右机翼2、左机翼3分别通过销轴对称安装在主轴8两端。右固定锥齿轮9固定在右齿轮座23上，左固定锥齿轮11固定在左齿轮座24上。主轴8从右固定锥齿轮9、左固定锥齿轮11中间穿过。右行星锥齿轮轴7垂直固定在主轴8上，而且在右固定锥齿轮9外侧。右行星锥齿轮6安装在右行星锥齿轮轴7末端，并与右固定锥齿轮9齿轮配合。左行星锥齿轮轴12垂直固定在主轴8上，而且在左固定锥齿轮11外侧。左行星锥齿轮15安装在左行星锥齿轮轴12末端，并与左固定锥齿轮11齿轮配合。右曲柄5固定安装在右行星锥齿轮6外侧，右机翼拉杆20固定安装在右机翼2底部左端，右曲柄5和右机翼拉杆20之间通过右连杆4连接，组成右连杆机构；左曲柄14固定安装在左行星锥齿轮15外侧，左机翼拉杆21固定安装在左机翼3底部右端，左曲柄14和左机翼拉杆21之间通过左连杆13连接，组成左连杆机构。The
本实用新型一种自动折叠机翼的固定翼无人机的工作过程：The working process of the fixed-wing unmanned aerial vehicle with automatic folding wings of the utility model:
（1）由机翼处于展开状态时开始，驱动电机19顺时针转动，带动主动锥齿轮16转动，从动锥齿轮10通过与主动锥齿轮16的齿轮配合关系转动，带动主轴8转动，右机翼2和左机翼3跟随主轴8一起沿主轴8的轴线转动；(1) Beginning when the wing is in the unfolded state, the driving
（2）由于右固定锥齿轮9固定不动，右行星锥齿轮6跟随主轴8转动的同时，由于与右固定锥齿轮9啮合的关系，右行星锥齿轮6自转，带动右曲柄5转动，右曲柄5带动右连杆4运动，右连杆4拉动右机翼2向机体1方向折叠，同理，左曲柄14带动左连杆13运动，左连杆13拉动左机翼3向机体1方向折叠；(2) Since the right
（3）上述机翼的两个运动同时进行，右机翼2、左机翼3绕主轴8旋转的同时向机体1折叠，当左曲柄14与左连杆13重叠共线时，左机翼3绕主轴旋转90度，同时向机体方向折叠90度，使左机翼贴在机体一侧，占有空间位置最少，通过控制电机反转，当左曲柄与左连杆延长共线时，左机翼处于展开状态，右曲柄、右连杆带动右机翼运动情况与左曲柄、左连杆带动左机翼运动情况相同。(3) The two movements of the above-mentioned wings are carried out simultaneously. The
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