CN115503934A - Fixed-wing unmanned aerial vehicle folding wing for box type launching and unlocking and folding method thereof - Google Patents

Abstract

The invention discloses a fixed wing unmanned aerial vehicle folding wing for box type launching and an unlocking and folding method thereof, wherein the folding wing is divided into an inner section and an outer section along the wingspan direction, and specifically comprises an inner wing, an outer wing and a wing folding mechanism, wherein the inner wing and the outer wing are connected through the wing folding mechanism; the wing folding mechanism adopts a modular structural design, is used as a main module and is respectively connected with the inner wing and the outer wing through a joint and a clamping groove and locked by a fastener. The invention provides a design realization scheme of a wing folding mechanism based on modularization, which is used for completing the assembly of the wing folding mechanism and the connection and installation of the wing folding mechanism with an inner wing and an outer wing. The inner wing and the outer wing are folded at one time after the installation interfaces of the inner wing and the outer wing are positioned in the wing folding die through the tool.

Description

Folding wing of fixed-wing unmanned aerial vehicle for box launch and its unlocking and folding method

technical field

The invention belongs to the field of aviation technology, and in particular relates to a wing folding, automatic unfolding and locking mechanism for a box-type launch of a fixed-wing unmanned aerial vehicle and a modular design and realization scheme thereof.

Background technique

At present, the wing forms of the take-off state of the fixed-wing UAV mainly include the full-span state and the folded state. The full-wing-span state is widely used, the structure is simple and reliable, and the technology is mature, but it also has obvious defects, such as a large space volume occupancy rate. The folding wings can effectively reduce the space occupied by drones, and can arrange more drone groups in a smaller space, which is more conducive to the rapid launch of drone clusters. However, compared with full-length wings, folding wings have obvious disadvantages such as complex structure, reduced reliability, and high technical difficulty, and the aerodynamic shape of the wing in the folded section is incomplete, resulting in aerodynamic loss.

The drive for folding and unfolding the wings generally includes motor drive, hydraulic drive, elastic component drive, etc. Motor and hydraulic drive are often used for large-load wings such as carrier-based aircraft and fighter jets, and the deployment time is long, and the structure is relatively It's a lot more complicated. However, small UAVs take off quickly, including target drones and various types of projectiles. The deployment of their wing surfaces often requires the use of elastic elements to achieve rapid deployment in a short period of time and can be locked reliably.

In recent years, the market's demand for cluster launches of UAVs, especially target drone products, has gradually increased. The old launch methods take a long time to prepare and have a high ground occupancy rate, making them unsuitable for high-density cluster launches. The box-type launch is one of the important means to solve the high-density cluster launch of drones. Folding the wings will greatly reduce the space occupied by the drone, reduce the volume of the launch box, and increase the density of the launch box. Box-type launch One of the necessary key technologies.

Contents of the invention

In order to solve the above technical problems, the present invention aims to provide a wing folding, automatic unfolding and locking mechanism for a box-type launch of a fixed-wing unmanned aerial vehicle, which can realize a single person on the ground to carry out wing folding operations, unmanned aerial vehicles After launching into the air, the wings are automatically deployed, and the wings are automatically locked after the deployment is in place to prevent the wings from rebounding or trembling. The wing folding mechanism provided by the invention has sufficient aerodynamic shape-conserving function and can fully reduce the aerodynamic loss in the wing folding area.

In order to achieve the above effects, the application of the present invention provides a folding wing of a fixed-wing unmanned aerial vehicle for box launch. The folding wing is divided into inner and outer sections along the span direction, specifically including inner wing and outer wing. 1. Wing folding mechanism, the inner wing and the outer wing are connected by the wing folding mechanism; The wings are connected by joints and slots and locked with fasteners;

The folding rotation axis and the folding separation surface of the wing folding mechanism adopt an offset design, the folding separation surface includes a section of cylindrical surface coaxial with the folding rotation axis, and a section of plane perpendicular to the wingspan direction, the plane is tangent to the cylindrical surface; The wing folding mechanism described above includes a fixed joint, a rotating joint, an inner mounting rib, and an outer mounting rib. The fixed joint, the rotating joint, the inner mounting rib, and the outer mounting rib all have the structural characteristics of a folding separation surface. The rotating joint and the outer mounting rib are as follows: The rotating shaft rotates as a central axis, and its folded separation surface coincides with the fixed joint and the inner installation rib when unfolded.

Further, the wing folding mechanism includes a folding rotation and locking module, an installation connection and an aerodynamic conformal module.

Further, the folding rotating and locking module includes a torque generating element, a front fixed joint, a front rotating joint, a rear fixed joint, a rear rotating joint, and a lock pin assembly. Named for the front and rear, the front fixed joint is connected to the front beam of the inner wing, the rear fixed joint is connected to the rear beam of the inner wing; the rotating joint is connected to one side of the outer wing to drive the outer wing to fold and unfold, and the The front beam of the wing is connected, the rear rotating joint is connected with the rear beam of the outer wing, and fastened with fasteners and shape nuts, and the two ends of the rotating shaft are connected and fastened with the front fixed joint and the rear fixed joint with fasteners.

Further, the installation connection and pneumatic shape-conservation module includes inner installation ribs, outer installation ribs, various shape-retention covers and shape-retention nuts, etc., one end of the aforementioned torque generating element is connected to the inner installation rib, and the other end is connected to the outer installation rib connection to transmit torque;

The torque generating element includes a sleeve, the sleeve is coaxially connected with the rotating shaft, and is sleeved on the rotating shaft. The two ends of the torsion spring are respectively connected with the inner mounting rib and the outer mounting rib; the pressure generating element includes front and rear Two compression springs, the compression springs are in one-to-one correspondence with the locking pins, the compression springs are installed on the outside of the locking pins, and the compression springs are installed on the locking pin mounting block.

Further, the wing folding mechanism includes a lock pin assembly, the lock pin assembly is installed on the side of the fixed joint connected to the inner wing installation rib, and slots are made at the corresponding position of the inner wing installation rib to allow its installation space, and the lock pin assembly is used for locking the unfolded state of the outer wing after it is automatically deployed in place.

Further, the lock pin assembly is divided into front and rear groups, both of which are composed of a lock pin, a lock pin mounting block, and a pressure generating element. The lock pin assembly is in one-to-one correspondence with the front fixed joint and the rear fixed joint. The lock pin is installed on the outside of the fixed joint, and the lock pin runs through the corresponding fixed joint and rotating joint; the pressure generating element passes through the tail rod section of the lock pin and is installed in the chute of the lock pin installation block, and the lock pin installation block is fastened by threads The parts are connected with the corresponding fixed joints.

Further, the locking pin assembly adopts clearance fit with the limiting hole of the fixed joint, and adopts a tapered guide fit with the rotating joint.

Further, the torque generating element generates torque and is constrained by the limiting structure of the launching device. After launching, the wings are released from the restraint, and the torque generating element and the aerodynamic lift of the outer wing drive the wing to complete automatic deployment. The magnitude of the torque is determined by the load on the wing. And the folding wing index is determined.

Based on the above-mentioned unlocking and folding method for folding wings of a fixed-wing unmanned aerial vehicle for box launch, the folding method includes:

Before the UAV takes off, manually fold the wings and load them into the launch device. The specific steps include:

S1.1, Manually dial back the front lock pin to release the lock of the front rotary joint by the front locking structure;

S1.2, Manually turn back the rear lock pin to release the lock of the rear rotary joint by the rear locking structure;

S1.3, the external force overcomes the torque of the torsion spring, so that the outer mounting rib rotates relative to the inner mounting rib, and the rotation angle is determined by the folding angle of the wing; the folding state of the wing is constrained by the limit structure of the UAV launch device;

After the UAV takes off, it is separated from the launching device, the constraint of the launching device on the wings is released, and the wings are automatically deployed and locked in the unfolded state. The specific steps include:

S2.1, the outer mounting rib is automatically deployed under the joint action of the torsion spring torque and the aerodynamic lift of the outer wing;

S2.2, after the wing is unfolded to a straight state, the front lock pin is pressed into the taper hole of the front swivel joint under the pressure of the front compression spring, and the rear lock pin is pressed into the taper hole of the rear swivel joint under the pressure of the compression spring to realize machine Automatic locking of wings extended state.

The beneficial effects are:

1) Reduce the space occupancy rate during UAV launch, shorten the launch preparation time, and realize the rapid launch of UAV clusters;

2) The offset design of the folding rotation axis and the folding surface has a compact structure, and the shape-conserving design can fully ensure the integrity of the aerodynamic shape of the wing and avoid the loss of aerodynamic force in the folding section of the wing;

3) Short power transmission route, direct force transmission, double locking mechanism, good structural strength, light weight and high reliability;

4) The locking structure directly acts on the rotating joint through the fixed joint, and adopts the matching design of the hole shaft and the front-end tapered guide matching design to eliminate the wingtip tremor problem caused by the assembly gap of the folding mechanism;

5) Modular design is adopted to realize the method, which has simple structure, convenient disassembly and assembly, low cost, and easy maintenance and use;

6) The mechanism has good compatibility, and can be adapted to the folding of various types of fixed wings and empennages by simple transformation.

Description of drawings

In order to illustrate the technical solution in the present invention more clearly, the accompanying drawings that need to be used in the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings on the premise of not paying creative work.

Fig. 1 is the composition schematic diagram of the overall structure of folding wing described in the present invention;

Fig. 2 is a schematic diagram of the overall structure of the wing folding mechanism of the present invention;

Fig. 3 is a structural schematic diagram of the folding rotation and locking module of the folding mechanism of the present invention;

Fig. 4 is a schematic diagram of the unlocking and folding process of the wing folding mechanism of the present invention;

Fig. 5 is a schematic diagram of the automatic unfolding and locking process of the wing folding mechanism of the present invention;

Fig. 6 is a structural feature diagram of the folding surface of the folding mechanism of the present invention;

Fig. 7 is a schematic diagram of the implementation method of the modular design of the wing folding mechanism of the present invention;

Among them, the names corresponding to the marks in the drawings are: A-inner wing, A1-inner wing front beam, A2-inner wing rear beam, B-outer wing, B1-outer wing front beam, B2-outer wing rear beam, 1 -folding rotation and locking module, 1.1-front fixed joint, 1.2-front rotating joint, 1.3-rear fixed joint, 1.4-rear rotating joint, 1.5-rotating shaft, 1.6-sleeve, 1.7-torsion spring, 1.8-front locking pin , 1.9-Front compression spring, 1.10-Front lock pin installation block, 1.11-Rear lock pin, 1.12-Rear compression spring, 1.13-Rear lock pin limit block, 1.14-Threaded fasteners, 2.1-Inner installation rib, 2.2 - outer mounting rib, 2.3 - leading edge conformal cover, 2.4 - inner rib conformal cover, 2.5 - outer rib conformal cover, 2.6 - trailing edge conformal cover.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the invention is used, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying References to devices or elements must have a particular orientation, be constructed, and operate in a particular orientation and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal connection between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations. .

Example 1

The application of the present invention provides a folding wing of a fixed-wing unmanned aerial vehicle for box-type launch, which can realize the wing folding operation performed by a single person on the ground, and the wings will automatically unfold after the unmanned aerial vehicle is launched into the air. The wing is automatically locked after the position, preventing the wing from rebounding or trembling, and the wing folding mechanism designed in the present invention has a sufficient aerodynamic shape-keeping function, which can fully reduce the aerodynamic loss of the wing folding section. The invention provides a modularized design realization scheme of the wing folding mechanism, which completes the assembly of the wing folding mechanism, and connects and installs the wing folding mechanism with the inner wing and the outer wing. The inner wing and the outer wing are closed at one time after the installation interface of the inner and outer wings is positioned by the tooling in the wing closing mold.

As shown in Figure 1, a folding wing of a fixed-wing unmanned aerial vehicle for box-type launching provided by this embodiment includes modules such as a folding and rotating module, a locking module 1, an installation connection and an aerodynamic shape-conserving module 2, etc. It can realize the wing folding operation performed by a single person on the ground, the wings will automatically unfold after the drone is launched into the air, and the wings will be automatically locked after unfolding to the position to prevent the wings from rebounding or trembling.

As shown in Figure 2, the above-mentioned folding rotation and locking module 1 is composed of a torsion spring 1.7, a sleeve 1.6, a rotating shaft 1.5, a front fixed joint 1.1, a front rotary joint 1.2, a rear fixed joint 1.3, a rear rotary joint 1.4, and a front lock pin 1.8 , front compression spring 1.9, front lock pin installation block 1.10, rear lock pin 1.11, rear compression spring 1.12, rear lock pin installation block 1.13, etc., the rotating shaft 1.5 is connected with the front fixed joint 1.1 and the rear fixed joint by threaded fastener 1.14 respectively 1.3 The connection is fastened, the wings are folded and moved, the torque generated by the torsion spring 1.7 is restrained by the limit structure of the launching device, the wing is released after launch, the torque of the torsion spring 1.7 and the aerodynamic lift of the outer wing jointly drive the wing to complete the automatic Unfolding, the torque is determined by the wing load and the index of the folded wing; as shown in Figure 7, the above-mentioned front locking pin 1.8 runs through the front fixed joint 1.1 and the front rotating joint 1.2, and the front compression spring 1.9 passes through the front locking pin 1.8 and the tail rod The section is installed in the chute of the front lock pin installation block 1.10, the front lock pin installation block 1.10 is connected with the front fixed joint 1.1 through the threaded fastener 1.14, the rear lock pin 1.11, the rear clip spring 1.12, the rear lock pin installation block The installation structure and principle of 1.13 are consistent with the front lock pin. When folding, the lock pin is pulled back, and the compression spring produces pressure. After the wing is unfolded in place, the compression spring drives the lock pin through the round hole of the fixed joint and presses it into the tapered hole of the rotary joint, so as to realize the locking of the unfolded state of the wing; the above installation and connection The aerodynamic conformal module consists of inner mounting ribs 2.1, outer mounting ribs 2.2, leading edge conformal cover 2.3, inner rib conformal cover 2.4, outer rib conformal cover 2.5, trailing edge conformal cover 2.6, etc., as a wing fold The mechanism is installed and connected to the basic mechanism, and the aerodynamic shape of the wing in the folding mechanism section is maintained intact.

The folded wing is divided into inner and outer sections along the span direction, specifically including an inner wing, an outer wing, and a wing folding mechanism, and the inner wing and the outer wing are connected by a wing folding mechanism; wherein, the wing folding The mechanism adopts a modular structure design, and the wing folding mechanism is used as a total module to connect with the inner wing and the outer wing through joints and slots and lock them with fasteners;

The folding rotation axis and the folding separation surface of the wing folding mechanism adopt an offset design, the folding separation surface includes a section of cylindrical surface coaxial with the folding rotation axis, and a section of plane perpendicular to the wingspan direction, the plane is tangent to the cylindrical surface; The wing folding mechanism described above includes a fixed joint, a rotating joint, an inner mounting rib, and an outer mounting rib. The fixed joint, the rotating joint, the inner mounting rib, and the outer mounting rib all have the structural characteristics of a folding separation surface. The rotating joint and the outer mounting rib are as follows: The rotating shaft rotates as a central axis, and its folded separation surface coincides with the fixed joint and the inner installation rib when unfolded.

The wing folding mechanism includes a folding, rotating and locking module, an installation connection and an aerodynamic shape-conserving module; wherein, the folding, rotating and locking module includes a torque generating element, a sleeve, a rotating shaft, a front fixed joint, a front rotating joint, and a rear fixed joint. Joint, rear rotary joint, lock pin assembly, fixed joint and rotary joint are arranged in pairs, and they are named after the front and rear of the flight direction, the front fixed joint is connected with the front beam of the inner wing, and the rear fixed joint is connected with the rear beam of the inner wing; The rotary joint is connected to one side of the outer wing, and is used to drive the outer wing to fold and unfold. The front rotary joint is connected to the front beam of the outer wing, and the rear rotary joint is connected to the rear beam of the outer wing, and is fastened with fasteners and conformal nuts. The two ends of the rotating shaft are connected and fastened with the front fixed joint and the rear fixed joint by fasteners.

The installation connection and pneumatic shape-containment module includes inner installation ribs, outer installation ribs, various shape-retention covers and shape-retention nuts, etc., one end of the aforementioned torque generating element is connected to the inner installation rib, and the other end is connected to the outer installation rib to transmit torque ;

The torque generating element includes a sleeve, the sleeve is coaxially connected with the rotating shaft, and then set on the rotating shaft, and the two ends of the torsion spring are respectively connected with the inner mounting rib and the outer mounting rib; the pressure generating element includes the front, The last two stage clips, the stage clips are in one-to-one correspondence with the lock pins, the stage clips are installed on the outside of the lock pins, and the stage clips are installed on the lock pin mounting block.

As shown in Figure 3, the wing folding mechanism includes a lock pin assembly, which is installed on the side of the fixed joint connected to the inner wing installation rib, and slotted at the corresponding position of the inner wing installation rib Out of its installation space, the lock pin assembly is used to lock the unfolded state of the outer wing after it is automatically deployed in place. The lock pin assembly is divided into front and rear groups, both of which are composed of a lock pin, a lock pin mounting block, and a pressure generating element. The lock pin assembly is in one-to-one correspondence with the front fixed joint and the rear fixed joint. On the outside of the fixed joint, the lock pin runs through the corresponding fixed joint and rotating joint; the pressure generating element passes through the tail rod section of the lock pin and is installed in the chute of the lock pin installation block, and the lock pin installation block is connected with the corresponding lock pin through the threaded fastener. fixed connector connection. The locking pin assembly adopts clearance fit with the limiting hole of the fixed joint, and adopts a tapered guide fit with the rotating joint.

The torque generating element generates torque and is constrained by the limit structure of the launching device. After the launch, the wing is released from the restraint. The torque generating element and the aerodynamic lift of the outer wing drive the wing to complete automatic deployment. The torque is determined by the load on the wing and the index of the folded wing. Sure.

Example 2

Based on the folded wings of the fixed-wing unmanned aerial vehicle for box launch provided in Embodiment 1, the present application also provides its unlocking and folding method, which includes the following steps:

Before the UAV takes off, manually fold the wings and load them into the launch device. The specific steps include:

S1.1, Manually dial back the front lock pin to release the lock of the front rotary joint by the front locking structure;

S1.2, Manually turn back the rear lock pin to release the lock of the rear rotary joint by the rear locking structure;

S1.3, the external force overcomes the torque of the torsion spring, so that the outer mounting rib rotates relative to the inner mounting rib, and the rotation angle is determined by the folding angle of the wing; the folding state of the wing is constrained by the limit structure of the UAV launch device;

After the UAV takes off, it is separated from the launching device, the constraint of the launching device on the wings is released, and the wings are automatically deployed and locked in the unfolded state. The specific steps include:

S2.1, the outer mounting rib is automatically deployed under the joint action of the torsion spring torque and the aerodynamic lift of the outer wing;

S2.2, after the wing is unfolded to a straight state, the front lock pin is pressed into the taper hole of the front swivel joint under the pressure of the front compression spring, and the rear lock pin is pressed into the taper hole of the rear swivel joint under the pressure of the compression spring to realize machine Automatic locking of wings extended state.

The working process of the folding, automatic unfolding and locking of the wing folding mechanism is as follows:

1) The wing folding mechanism unlocks and folds the working process:

As shown in Figure 4, before the UAV takes off, the wings are manually folded and loaded into the launch device. The specific steps include:

(1) Manually dial back the front locking pin 1.8 to release the locking of the front rotary joint 1.2 by the front locking structure;

(2) Manually turn back the rear lock pin 1.11 to release the lock of the rear rotary joint 1.4 by the rear locking structure;

(3) The external force overcomes the torque of the torsion spring 1.7, so that the outer mounting rib 2.2 rotates relative to the inner mounting rib 2.1, and the rotation angle is determined by the folding angle of the drone. The folded state of the wings is constrained by the limit structure of the UAV launching device.

2) The wing folding mechanism automatically unfolds and locks the working process:

As shown in Figure 5, after the UAV takes off, it is separated from the launch device, the constraint of the launch device on the wings is released, and the wings are automatically expanded and locked. The specific steps include:

(1) The outer mounting rib 2.2 is automatically deployed under the combined action of the torque of the torsion spring 1.7 and the aerodynamic lift of the outer wing;

(2) After the wings are unfolded to a straight state, the front lock pin 1.8 is pressed into the taper hole of the front rotary joint 1.2 under the pressure of the front compression spring 1.9, and the rear lock pin 1.11 is pressed into the rear rotary joint 1.4 cone under the pressure of the compression spring 1.12 In the hole, the automatic locking of the unfolded state of the wing is realized.

As shown in Figure 6, the aforementioned wing folding mechanism adopts an offset design scheme for the folding rotation axis and the folding separation surface. The folding separation surface is composed of a cylindrical surface and a plane. Tangential to ensure the compact structure of the folding surface and the integrity of the aerodynamic shape.

As shown in Figure 3, the aforementioned wing folding mechanism is connected by the front fixed joint 1.1 to the inner wing front beam A1, the rear fixed joint 1.3 is connected to the inner wing rear beam A2, and it is connected to the outer wing front beam B1 by the front rotating joint 1.2. Connection, rear swivel joint 1.4 is connected with the rear spar B2 of the outer wing, and the force transmission route of the entire folded wing is: outer spar B1/B2 → swivel joint → rotating shaft 1.5 (and lock pin) → fixed joint → inner spar A1/A2 → The fuselage has the advantages of short force transmission route, direct force transmission, good structural strength, and light weight; the aforementioned front lock pin 1.8 penetrates the front fixed joint 1.1 and directly acts on the front rotating joint 1.2, and the rear lock pin 1.11 penetrates the rear fixed joint 1.3 directly acts on the rear rotary joint 1.4, without other force transmission routes, which improves the reliability of the locking structure. The locking pin 1.8/1.11 adopts clearance fit with the limit hole of the fixed joint 1.1/1.3, and adopts a cone with the rotary joint 1.2/1.4. Form-guided fit improves the compactness of the locking structure, thereby eliminating the tremor problem of the folded wing; the aforementioned rear locking pin mounting block 1.13 is connected with the rear fixed joint 1.3 through a threaded fastener 1.14, and the rear locking pin mounting block 1.13 is designed The hook-shaped structure realizes the locking of the inner installation rib 2.1 and the rear fixed joint 1.3 in the direction of the folding axis, which greatly improves the strength and reliability of the folding mechanism;

As shown in Figure 7, the aforementioned wing folding mechanism adopts a modular design implementation method:

(Z1) First complete the independent assembly and functional debugging of the folding, rotating and locking module 1;

(Z2) Position and install at the corresponding position of the folding rotation and locking module 1 through the card slot structure of the inner installation rib 2.1 and the outer installation rib 2.2 and lock it with threaded fasteners;

(Z3) Install the conformal covers 2.3~2.6 and lock them with threaded fasteners to complete the overall assembly of the wing folding mechanism;

(Z4) As a general module, the wing folding mechanism is connected with the inner wing A and the outer wing B through the joint + slot and locked with the fastener J. The modular design and implementation method improves the assembly manufacturability of the mechanism, is convenient for disassembly and assembly, and is easy to use and maintain. After the inner wing A and the outer wing B are positioned in the wing closing mould, the installation interface of the inner wing A and the outer wing B is positioned by the tooling, and the closing of the inner and outer wings is completed at one time;

The aforementioned wing folding mechanism can be added to a given wing structure. Installing the mechanism at a suitable position on the wing can realize wing folding, automatic unfolding, and locking. It can also be applied to the folding of the empennage through simple transformation.

The present invention provides an idea of folding wings of a fixed-wing unmanned aerial vehicle for box launch and its unlocking and folding method. There are many methods and approaches to realize this technical solution, and the above are only preferred embodiments of the present invention. It should be pointed out that those skilled in the art can make some improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. All components that are not specified in this embodiment can be realized by existing technologies.

Claims (9)

1. A fixed wing unmanned aerial vehicle folding wing for box type launching is characterized in that the folding wing is divided into an inner section and an outer section along the wingspan direction, and specifically comprises an inner wing, an outer wing and a wing folding mechanism, wherein the inner wing and the outer wing are connected through the wing folding mechanism; the wing folding mechanism is in a modular structural design, and is used as a main module to be respectively connected with the inner wing and the outer wing through joints and clamping grooves and locked by fasteners;

the folding rotation axis and the folding separation surface of the wing folding mechanism adopt an offset design, the folding separation surface comprises a section of cylindrical surface coaxial with the folding rotation axis and a section of plane vertical to the wingspan direction, and the plane is tangent to the cylindrical surface; the wing folding mechanism comprises a fixed joint, a rotating joint, an inner mounting rib and an outer mounting rib, the fixed joint, the rotating joint, the inner mounting rib and the outer mounting rib are structurally characterized by folding separating surfaces, the rotating joint and the outer mounting rib rotate by taking the rotating shaft as a central shaft, and the folding separating surfaces of the rotating joint and the outer mounting rib are superposed with the fixed joint and the inner mounting rib when the rotating joint and the outer mounting rib are unfolded.

2. The folding wing of fixed wing drone for boxlaunch according to claim 1, characterized in that said wing folding mechanism comprises folding rotation and locking module, mounting connection and pneumatic conformal module.

3. The folding wing of fixed wing drone for tank launch according to claim 2, characterized by the fact that said folding rotation and locking module comprises torque generating elements, front fixed joints, front rotary joints, rear fixed joints, rear rotary joints, locking pin assemblies, fixed joints and rotary joints arranged in pairs named after the front and rear of the direction of flight, said front fixed joints being connected to the front beam of the inner wing, said rear fixed joints being connected to the rear beam of the inner wing; the rotary joint is connected with one side of the outer wing and used for driving the outer wing to fold and unfold, the front rotary joint is connected with the front beam of the outer wing, the rear rotary joint is connected with the rear beam of the outer wing and fastened by a fastener and a shape-preserving nut, and two ends of the rotary shaft are connected and fastened with the front fixed joint and the rear fixed joint by the fastener.

4. The folding wing of fixed wing drone for boxlike launch according to claim 2, characterized by that, said mounting connection and pneumatic conformal module comprises inner mounting rib, outer mounting rib, conformal covering cap and conformal nut, the torque generating element has one end connected with inner mounting rib and the other end connected with outer mounting rib to transmit torque;

the torque generating element comprises a sleeve, the sleeve is coaxially connected with the rotating shaft and sleeved on the rotating shaft, and two ends of the torsion spring are respectively connected with the inner mounting rib and the outer mounting rib; the pressure generating element comprises a front pressure spring and a rear pressure spring, the pressure springs correspond to the lock pins one by one, the pressure springs are installed on the outer sides of the lock pins, and the pressure springs are installed on the lock pin installation block.

5. The folding wing of fixed wing drone for boxlaunch according to claim 3,

the wing folding mechanism comprises a locking pin assembly, the locking pin assembly is arranged on one side, connected with the inner wing mounting rib, of the fixed joint, a groove is formed in the corresponding position of the inner wing mounting rib to leave a mounting space, and the locking pin assembly is used for locking the unfolding state of the outer wing after the outer wing is automatically unfolded in place.

6. The foldable wing of fixed wing drone for boxcar launching as claimed in claim 5, characterized in that the locking pin assembly is divided into two groups, front and back, each of which is composed of locking pin, locking pin mounting block, pressure generating element, the locking pin assembly is one-to-one corresponding to the front and back fixed joints, the locking pin is mounted outside the fixed joint, the locking pin runs through the corresponding fixed joint and rotary joint; the pressure generating element penetrates through the lock pin tail rod section and is installed in a sliding groove of the lock pin installation block, and the lock pin installation block is connected with the corresponding fixed joint through a threaded fastener.

7. The folding wing of fixed wing drone for boxed launch according to claim 4, characterized by the fact that said locking pin assembly is clearance fitted with the limit hole of the fixed joint, with the conical guide fitting of the rotary joint.

8. The folding wing of fixed wing unmanned aerial vehicle for box type launching of claim 3, wherein the torque generating element generates torque and is restrained by a limiting structure of the launching device, the wing is released from restraint after launching, the torque generating element and the aerodynamic lift force of the outer wing drive the wing to automatically unfold, and the torque is determined by the loading condition of the wing and the index of the folding wing.

9. The method of claim 1, wherein the folding method comprises:

before unmanned aerial vehicle takes off, the manual work carries out folding operation with the wing and packs into emitter, and concrete step includes:

s1.1, manually pulling back a front lock pin to unlock a front rotary joint by a front locking structure;

s1.2, manually pulling back the rear lock pin, and unlocking the rear locking structure from locking the rear rotating joint;

s1.3, overcoming the torque of the torsion spring by external force, enabling the outer mounting rib to rotate relative to the inner mounting rib, wherein the rotation angle is determined by the folding angle of the wing; the folding state of the wings is restrained by a limiting structure of an unmanned aerial vehicle launching device;

after the unmanned aerial vehicle takes off, break away from emitter, emitter removes the restraint of wing, and the wing is automatic to be expanded and lock the state of expansion, and concrete step includes:

s2.1, the outer mounting rib automatically expands under the combined action of the torsion spring and the aerodynamic lift force of the outer wing;

s2.2, after the wing is unfolded to be in a straight state, the front lock pin is pressed into the front rotating joint conical hole under the pressure of the front pressure spring, and the rear lock pin is pressed into the rear rotating joint conical hole under the pressure of the pressure spring, so that the automatic locking of the unfolded state of the wing is realized.

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