CN211844881U - Wingtip connection structure of combined UAV - Google Patents

Abstract

The utility model discloses a wingtip connection structure of a combined unmanned aerial vehicle, comprising: a guide rail arranged in the chordwise direction of the first wingtip of each single machine in the combined unmanned aerial vehicle; a card slot; a flexible connection component, which is arranged inside the guide rail and moves along the guide rail under the action of external force; a rotary electromagnetic damper is arranged inside the card slot; A flexible connection of wingtips between different single aircraft; and a rigid pin, the head of which is tapered, and is provided on the first wingtip; the pinhole, whose orifice is tapered, is provided on the second wingtip; and , The rigid pin and the pin hole are matched and connected to realize the rigid connection of the wingtips between different single machines. The wingtip connection structure of the combined UAV adopted by the utility model can automatically adjust the flexible connection or the rigid connection according to the wind power, and has the advantages of flexible connection mode, convenient operation, strong stability and the like.

Description

Wingtip connection structure of combined UAV

technical field

The utility model relates to the technical field of aircraft, in particular to a wingtip connection structure of a combined unmanned aerial vehicle.

Background technique

Small fixed-wing UAVs (with a wingspan of 0.5m to 2m) have the characteristics of small size, light weight, low cost, convenient operation, flexible maneuverability, low noise, good concealment, and easy networking. There are broad application prospects in the field, such as urban short-distance logistics transportation, electric power inspection, disaster monitoring and investigation, swarm warfare and distributed reconnaissance. However, due to the light weight and small inertia of a single UAV platform, the stability and wind resistance of the aircraft are relatively weak. In addition, due to the small aspect ratio of small fixed-wing UAVs, the induced resistance is large, which shortens the range and flight time, which is not conducive to the long-range and long-distance flight missions. Based on the principles of bionics and aerodynamics, an effective solution is to connect the wing tips of multiple small fixed-wing UAVs together to form a detachable combined fixed-wing UAV.

The connection technology between the wings of two adjacent UAVs is the key technology of the combined UAV. The existing connection methods are mainly magnetic rigid connection and mechanical rigid connection. The UAV combined by this rigid connection form is equivalent to a large aspect ratio UAV. The advantage is that the voyage can be extended, and its most prominent problem is It's just poor wind resistance. Moreover, such a rigid connection will cause the wingtip part to bear a large aerodynamic load, which is prone to breakage accidents.

Utility model content

The purpose of the present invention is to provide a wingtip connection structure of a combined unmanned aerial vehicle, which has at least partially solved the above technical problems.

The specific technical solutions are:

The utility model provides a wingtip connection structure of a combined unmanned aerial vehicle, which mainly includes:

In the combined UAV, the guide rails are arranged in the chordwise direction of the first wingtip of each single machine, and the slot is arranged in the chordwise direction of the second wingtip of each single machine;

The flexible connecting component is arranged inside the guide rail and moves left and right along the guide rail under the action of external force;

The rotating electromagnetic damper is arranged inside the card slot;

Moreover, the rotary electromagnetic damper is adapted to be connected with the flexible connection component, so as to realize the flexible connection of the wingtips between different single aircraft; and

A rigid pin, the head of which is tapered, is arranged on the first wing tip;

The pin hole, the orifice of which is tapered, is arranged on the second wing tip;

Moreover, the rigid pin and the pin hole are matched and connected to realize the rigid connection of the wingtips between different single aircraft.

In some embodiments, the inside of the guide rail further includes:

Stepper motor, fixed at the bottom of the guide rail;

The screw pair includes a lead screw and a lead screw nut, the lead screw is connected with the stepping motor through a coupling, and the lead screw nut is fixedly connected with the flexible connection component.

Further, the flexible connection assembly includes:

Left connecting piece, connected to the screw nut;

The flexible hollow column is sleeved on the lead screw. In some embodiments, the flexible hollow column uses elastic rubber material;

The right connecting piece is connected to a boss. In some embodiments, the boss is an outer hexagonal boss, and the outer hexagonal boss uses a magnetic conductive material.

In some embodiments, the above-mentioned rotary electromagnetic damper includes:

The rotating part is matched and connected with the boss of the flexible connection assembly, and further, the rear end of the rotating part is also connected with a flat scroll spring, and the plane scroll spring and the rotating electromagnetic damper are connected and installed in the card slot ;

The fixed part realizes the fixation of the rotary electromagnetic damper inside the card slot;

The limit pin controls the maximum pitch angle when each unit of the combined UAV is flexibly connected.

In some embodiments, the wingtip connection between the individual units of the combined UAV is automatically adjusted to a flexible connection or a rigid connection according to the magnitude of the wind speed, and the strength of the flexible connection is automatically adjusted according to the level of the wind power.

In some embodiments, when the rotary electromagnetic damper is energized, its rotating part generates an electromagnetic force, and the pull-in connection between the rotating part and the boss of the flexible connecting assembly is realized through the action of the electromagnetic force; when the rotating electromagnetic damper is powered off, the electromagnetic force is generated. The force disappears and the connection between the rotating part and the boss is disconnected.

Compared with other technologies, the wingtip connection structure of the combined unmanned aerial vehicle provided by the utility model has the following beneficial effects:

(1) The utility model adds a flexible connection method of the wingtips, and this flexible connection eliminates the shortcoming of being easy to break when rigidly connected in the past;

(2) The present invention combines flexible connection and rigid connection to realize a new type of wingtip connection. Through the conversion of rigid connection and flexible connection, the best flight performance of the unmanned aerial vehicle assembly can be exerted. The wind power level automatically adjusts the connection flexibility, and adopts rotating electromagnetic dampers and flat scroll springs to achieve vibration reduction and self-stabilization;

(3) The utility model is provided with a rotating electromagnetic damper, which can absorb the energy generated by the gust during the rotation process and play the role of buffering and damping, thereby suppressing the maximum overshoot of the pitch angle of the drone and preventing unmanned aerial vehicles. The aircraft stalls; the utility model is also provided with a plane scroll spring, which can offset the pitch angle difference between two adjacent UAVs with the help of the restoring torque of the spring;

(4) The wingtip connection structure of the present invention has both the advantages of rigid connection and flexible connection. In the take-off and cruising stages, the wings of multiple drones are connected together. When there is no wind or little wind, the wings of two adjacent drones are rigidly connected by positioning pins and electromagnets to extend the range and flight time. ;When encountering a large gust of wind, the flexible connection between the two wings is realized through the flexible connection component, and the wind resistance performance of the UAV assembly is improved;

(5) In the wingtip connection structure of the present invention, in the task execution stage, the rotating electromagnetic damper is powered off to realize the disassembly of the unmanned aerial vehicles, and each unmanned aerial vehicle performs the task independently. It has the advantages of simple operation, complete functions and high stability.

Description of drawings

1 is a disassembled view of an assembly of a wingtip connection structure according to an embodiment of the present invention;

2 is a schematic diagram of the connection end surface of the left wing in the wing tip connection structure according to an embodiment of the present invention;

3 is a schematic diagram of the connection end surface of the right wing in the wing tip connection structure according to an embodiment of the present invention;

4 is a schematic diagram of a flexible connection assembly in an embodiment of the present invention;

5A-5B are schematic diagrams of a rotary electromagnetic damper in an embodiment of the present invention;

6 is a schematic assembly diagram of a rigid connection between two wings of a combined unmanned aerial vehicle according to an embodiment of the present invention;

7 is a schematic diagram of a rigid assembly of an embodiment of the present invention applied to multiple small unmanned aerial vehicles;

FIG. 8 is a combined schematic diagram of a flexible connection between two wings of a combined unmanned aerial vehicle according to an embodiment of the present invention;

9 is a schematic diagram of a flexible combination applied to multiple small unmanned aerial vehicles according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of the wingtip of the combined drone according to an embodiment of the present invention after power-off and disassembly.

In the picture:

Left wing 1 Stepper motor 2 Coupling 3

Lead screw 4 Lead screw nut 5 Flexible connection assembly 6

Rotary electromagnetic damper 7 Flat scroll spring 8 Right wing 9

Rigid pin 11, 13 Guide rail 12 Pin hole 91, 93

Card slot 92 Left connecting piece 61 Flexible hollow column 62

Right connecting piece 63 Hexagonal boss 64 Rotating part 71

Rotation limit pins 72, 73 Fixed limit pins 74 Fixed part 75

Detailed ways

In order to make the purpose, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings. The described embodiments are only a part of the present utility model rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

The device technology designed by the utility model enables the combined unmanned aerial vehicle to be assembled and disassembled as required, and rigid connection is adopted when there is no wind or low wind power, and the two wings of the adjacent unmanned aerial vehicles are tightly connected by positioning pins and electromagnets. Connected together, it can maximize the range and endurance; when encountering a large gust of wind, the two wings are converted into a flexible connection, which can be well To eliminate the influence of gust on the stability of the UAV; when arriving at the mission area to perform the task, the two UAVs are disassembled in the air through electromagnetic force control, and each UAV performs the established task independently.

In view of this, an embodiment of the present utility model provides a wingtip connection structure of the combined unmanned aerial vehicle, including:

In the combined UAV, the guide rails are arranged in the chordwise direction of the first wingtip of each single machine, and the slot is arranged in the chordwise direction of the second wingtip of each single machine;

The flexible connecting component is arranged inside the guide rail and moves left and right along the guide rail under the action of external force;

The rotating electromagnetic damper is arranged inside the card slot;

In addition, the rotating electromagnetic damper is adapted and connected with the flexible connecting component, so as to realize the flexible connection of the wingtips between different single aircraft.

It should be noted that, in this embodiment, the first wingtip and the second wingtip respectively represent the wingtips of the wings on both sides of a single aircraft. , or set a card slot or guide rail on the second wingtip, no special limitation is made, and its purpose is to realize the use of the flexible connection components in the guide rail and the rotating electromagnetic damper in the card slot. The flexibility of the flexible connection varies depending on the length of the flexible connection component exposed to the guide rail. The longer the length, the stronger the flexibility.

Based on the above embodiments, the wingtip connection structure of the combined unmanned aerial vehicle in this embodiment may further include:

A rigid pin, the head of which is tapered, is arranged on the first wing tip;

The pin hole, the orifice of which is tapered, is arranged on the second wing tip;

Moreover, the rigid pin and the pin hole are matched and connected to realize the rigid connection of the wingtips between different single aircraft.

It should be noted that, in this embodiment, a rigid pin or pin hole is provided on the first wing tip, or a pin hole or rigid pin is provided on the second wing tip, which is also not limited, and its purpose is the same In the above-mentioned embodiments, the purpose is to realize the rigid connection between the individual units in the combined unmanned aerial vehicle through the connection of the rigid pin and the pin hole. Further, when the above-mentioned flexible connecting assembly is completely located inside the guide rail (that is, the length of the flexible connecting assembly exposed on the guide rail is 0), the connection between the flexible connecting assembly in the guide rail and the rotating electromagnetic damper in the card slot can also be used as a kind of rigidity. connection method. In some embodiments, the two rigid connection methods described herein may exist in combination, or may exist independently.

Based on the above-mentioned embodiment, further, the inside of the guide rail also includes:

Stepper motor, fixed at the bottom of the guide rail;

The screw pair includes a lead screw and a lead screw nut, the lead screw is connected with the stepping motor through a coupling, and the lead screw nut is fixedly connected with the flexible connection component.

It should be noted that the stepper motor and the screw pair are only an implementation manner, and any implementation manner that can realize the left and right movement of the flexible connection assembly along the guide rail can be replaced.

In some embodiments, the rotary electromagnetic damper is further connected with a planar scroll spring, and the planar scroll spring and the rotary electromagnetic damper are both installed in the slot after being connected.

The present embodiment and its application scenarios are further described below with reference to FIGS. 1 to 10 .

First, please refer to FIG. 1, this embodiment consists of a left wing 1, a micro stepping motor 2, a coupling 3, a lead screw 4, a lead screw nut 5, a flexible connection component 6, a rotating electromagnetic damper 7, and a flat scroll spring. 8 and the right wing 9, etc. It should be noted that the left wing 1 and the right wing 9 here are the above-mentioned first wing tip and second wing tip, and the guide rail 12 is arranged on the left wing 1 and the card is arranged on the right wing 9 Slot 92.

Referring to FIGS. 1 and 2 again, the specific implementation of the flexible connection assembly 6 moving left and right along the guide rail 12 is as follows: the micro stepping motor 2 is fixed in the guide rail 12 of the left wing 1, and the lead screw 4 is driven by the coupling 3. turn. The screw pair formed by the lead screw 4 and the lead screw nut 5 can convert the rotation of the lead screw 4 into the movement of the lead screw nut 5 in the guide rail 12 . One end of the flexible connection assembly 6 is fixedly connected with the lead screw nut 5, and the movement of the lead screw nut 5 is controlled with the rotation of the lead screw 4, thereby controlling the flexible connection assembly 6 to move left and right in the wing guide rail. The components described here (including the micro stepping motor 2 , the coupling 3 , the lead screw 4 , the lead screw nut 5 and the flexible connection component 6 ) belong to the installation components on the left wing 1 .

1 and 3 again, the rotary electromagnetic damper 7 and the planar scroll spring 8 are both installed in the installation slot 92 of the right wing 9 after being connected.

In some embodiments, the above-mentioned flexible connection assembly further comprises:

Left connecting piece, connected to the screw nut;

The flexible hollow column is sleeved on the lead screw. In some embodiments, the flexible hollow column uses elastic rubber material;

The right connecting piece is connected to a boss. In some embodiments, the boss is an outer hexagonal boss, and the outer hexagonal boss uses a magnetic conductive material.

In this embodiment, please refer to FIG. 4 , the flexible connecting element 6 is formed by connecting a left connecting piece 61 , a flexible hollow column 62 , a right connecting piece 63 and an outer hexagonal boss 64 . The left and right connecting pieces 61, 63 are made of engineering plastics, which can effectively reduce weight; the flexible hollow column 62 is made of hollow elastic rubber, which can transmit pitch and roll between two adjacent UAVs and yaw three directions of force and moment, and has good rebound and buffer vibration damping effect; the outer hexagonal boss 64 is made of magnetic conductive material. It should be noted that the boss here is preferably an external hexagonal boss, but in specific implementation, the shape and structure of the boss are not limited, and other polygon bosses may also be used.

In some embodiments, the above-mentioned rotary electromagnetic damper includes:

The rotating part is matched and connected with the boss of the flexible connecting component;

The fixed part realizes the fixation of the rotary electromagnetic damper inside the card slot;

The limit pin controls the maximum pitch angle when each unit of the combined UAV is flexibly connected.

In this embodiment, please refer to FIG. 5 , the rotary electromagnetic damper 7 is mainly composed of a rotating part 71 , a fixed part 75 , rotation limit pins 72 , 73 and a fixed limit pin 74 . In the rotary electromagnetic damper, the damping torque also changes as the rotational speed of the rotating portion 71 changes. The change rule is: when the rotational speed increases, the damping torque also increases; when the rotational speed slows down, the damping torque also decreases. The rotary electromagnetic damper 7 can be completely embedded in the installation slot 92 of the wing 9 without any exposed part, thereby reducing interference resistance.

Based on the above embodiment, please refer to FIGS. 4 and 5A and 5B again, the outer hexagonal boss 64 cooperates with the rotating part 71 of the rotary electromagnetic damper (here, the inner hexagonal groove forms the profile), and can be adjacent to each other. Forces and circumferential moments are transmitted between the two UAV wings. When the rotary electromagnetic damper 7 is energized, its rotating part 71 will generate electromagnetic force, which is tightly attracted to the outer hexagonal boss 64 and can transmit the force in the axial direction. After the power is turned off, the outer hexagonal boss 64 and the rotating part 71 can be separated under the action of a weak external force. It should be noted that the structure of the rotating part 71 of the rotary electromagnetic damper 71 changes with the change of the structure of the boss of the flexible connection assembly 6, and it is only necessary to ensure that the two structures can be matched and connected.

The specific combination of the wingtip connection structure of the combined UAV of the present invention will be described in detail below with reference to the above embodiments.

Generally, the specific combination method is realized based on the following principles:

During the take-off and cruise phases, the wings of multiple UAVs are linked together for roll-off take-off and level flight. When there is no wind or the wind is small, a rigid connection is used between adjacent UAVs to combine multiple small UAVs into a large aspect ratio UAV; when encountering a large unstable wind, the flight controller will The wind speed information measured by the airborne atmospheric data sensor controls the rotation of the stepping motor, so that the flexible hollow column extends out of the guide rail, and the combined UAV wing connection mechanism is converted into a flexible connection, and different connection flexibility is automatically changed according to different wind levels. (Within a certain range, the greater the wind, the greater the flexibility). There can be relative torsion within a limited angle between adjacent UAVs in the three rotational degrees of freedom directions.

The main advantages of this combination are:

When there is no wind or the wind is small, the gust of wind has a weak effect on the stability of the UAV. The tight rigid connection of each UAV can greatly increase the aspect ratio, reduce the induced resistance, and improve the lift-drag ratio, thereby maximizing the range and flight range. When encountering a large gust of wind, through the flexible parts and damping spring mechanism at the connection, the impact of the gust on the stability of the UAV can be well mitigated, thereby improving the overall wind resistance performance;

In the mission execution stage, the dismantling mechanism turns into multiple independent small UAVs, each performing the mission.

Specifically, based on the above principles:

In some embodiments, the wingtip connection between the individual units of the combined UAV is automatically adjusted to a flexible connection or a rigid connection according to the magnitude of the wind speed, and the strength of the flexible connection is automatically adjusted according to the level of the wind power.

In this embodiment, for the rigid connection method, the two taper pins on the head and the taper pin holes on the orifice are arranged on the end face of the wing in the chord direction, and the magnetic force of the rotating electromagnetic damper 7 is used to realize the connection of the wing. Rigid connection. Specifically, please refer to FIG. 2 , FIG. 3 and FIG. 6 , when there is no wind or the wind is small, the wing tips of two adjacent UAVs can be rigidly connected. 11 and 13 in Figure 2 are two rigid pins on the left wing 1, and the heads of the pins have a certain taper. 91 and 93 in Fig. 3 are two pin holes on the right wing 9, and the holes have a certain taper. The purpose of the taper design is to guide the pin and the hole to fit smoothly within a certain range of misalignment. 6 is a schematic diagram of the rigid connection between the two wings. At this time, the rotary electromagnetic damper 7 is powered on, and the rotating part 71 is tightly connected with the outer hexagonal boss 64 of the flexible connection assembly 6 . The micro stepping motor 2 drives the lead screw 4 to rotate, which in turn drives the lead screw nut 5, the flexible connection assembly 6, the rotating electromagnetic damper 7 and the right wing 9 to move in the direction of the left wing 1, so that the end faces of the two wings are in close contact. , the rigid pins 11, 13 are inserted into the pin holes 91, 93, thereby restricting the relative movement of the two wings with six degrees of freedom, thereby realizing a rigid connection.

Based on the above rigid connection method, please refer to Figure 7, which is a schematic diagram of the rigid connection of multiple UAVs. The wings of adjacent UAVs are closely attached, and all the wings are kept on the same plane, which is equivalent to a large exhibition. This combination method can minimize the loss of wingtip vortex and increase the lift-to-drag ratio, thereby improving the range and flight time.

In this embodiment, for a rigid-to-flexible connection, when encountering a gust of wind, the micro-stepping motor 2 rotates so that the flexible connection assembly 6 extends out of the left wing to realize a flexible connection between the two drones. Specifically, referring to FIG. 8 , when encountering a large gust of wind, the two wings are converted into a flexible connection. The rotary electromagnetic damper 7 remains energized, and engages with the flexible connecting assembly 6, thereby connecting the wing 1 and the wing 9 together. The micro-stepping motor 2 drives the lead screw 4 to rotate in the reverse direction, and then pushes the lead screw nut 5 to move outwards so that the flexible connection assembly 6 extends out of the wing 1 . At this time, the transmission of force and moment between the two wings mainly relies on the flexible hollow column 62 of the elastic transmission assembly 6 .

Specifically, when encountering a large gust of wind, the UAV at the gust position is disturbed, and the pitch angular velocity will rapidly increase. The larger damping moment prevents the pitch angle from continuing to increase, thereby ensuring the stability of the entire assembly. At the same time, the rotational motion of the rotary electromagnetic damper 7 can consume the perturbed rotational kinetic energy, so that the combined body quickly tends to a stable state. The center of the planar scroll spring 8 is connected to the rear end of the rotating part 71 of the rotary electromagnetic damper 7, which can generate a pitch recovery moment to keep the pitch angles of the two adjacent UAVs consistent. If the damping torque of the rotating electromagnetic damper 7 itself is not enough to offset the pitching moment generated by the gust of wind, the maximum pitching angle is controlled by the limit pin to prevent the drone from stalling and falling.

It should be noted that, by controlling the rotation angle of the micro stepping motor 2, the extension length of the flexible hollow column 62 can be controlled, that is, the size of the connection flexibility can be controlled, and then the force and torque transmitted between the two adjacent drones can be adjusted. Size: The longer the extension, the greater the flexibility, and the weaker the torque transmission capacity; the shorter the extension, the weaker the flexibility, and the stronger the torque transmission capacity; when the extension is 0, it degenerates into a rigid connection.

In this embodiment, for the flexible connection method, please refer to FIG. 9 , which is a schematic diagram of a flexible combination of multiple small unmanned aerial vehicles. Relative rotation in three directions: roll, pitch, and yaw.

In some embodiments, when the rotary electromagnetic damper is energized, its rotating part generates an electromagnetic force, and the pull-in connection between the rotating part and the boss of the flexible connecting assembly is realized through the action of the electromagnetic force; when the rotating electromagnetic damper is powered off, the electromagnetic force is generated. The force disappears and the connection between the rotating part and the boss is disconnected.

In this embodiment, when a task needs to be performed, please refer to FIG. 10 , which is a schematic diagram of the wingtip part after the dismantling of the UAV assembly. The rotating electromagnetic damper 7 is powered off, and the outer hexagonal boss 64 and the rotating part 71 are under weak external force. It can be separated under the action of the device, so as to realize the dismantling of the combined UAV in the air. After dismantling, the micro stepping motor 2 rotates to drive the flexible connection assembly 6 to retract into the guide rail groove of the left wing 1 to reduce the interference resistance of the wing.

So far, the description of the embodiments of the present invention about the wingtip connection structure of the combined unmanned aerial vehicle and its implementation is completed.

The above are only the preferred specific embodiments of the present invention, and the protection scope of the present invention is not limited to this. Any modifications, improvements and equivalent replacements made within the spirit and principles of the present invention, etc. , should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. a wingtip connection structure of a combined unmanned aerial vehicle, is characterized in that, comprises: In the combined unmanned aerial vehicle, a guide rail is arranged in the chordwise direction of the first wingtip of each single machine, and a card slot is arranged in the chordwise direction of the second wingtip of each of the single machines; The flexible connection assembly is arranged inside the guide rail and moves left and right along the guide rail under the action of external force; a rotary electromagnetic damper, arranged inside the card slot; In addition, the rotating electromagnetic damper is adapted to connect with the flexible connecting assembly, so as to realize the flexible connection of the wingtips between different single aircraft. 2. The wingtip connection structure of combined unmanned aerial vehicle according to claim 1, is characterized in that, also comprises: A rigid pin, the head of which is tapered, is arranged on the first wing tip; A pin hole, the orifice of which is tapered, is arranged on the second wing tip; In addition, the rigid pin and the pin hole are matched and connected to realize the rigid connection of the wingtips between different single aircraft. 3. The wingtip connection structure of the combined unmanned aerial vehicle according to claim 2, wherein the inside of the guide rail further comprises: Stepper motor, fixed on the bottom of the guide rail; The screw pair includes a lead screw and a lead screw nut, the lead screw is connected with the stepping motor through a coupling, and the lead screw nut is fixedly connected with the flexible connection component. 4. The wingtip connection structure of the combined unmanned aerial vehicle according to claim 3, wherein the flexible connection assembly comprises: a left connecting piece connected to the lead screw nut; The flexible hollow column is sleeved on the lead screw; The right connecting piece is connected to a boss. 5 . The wingtip connection structure of the combined unmanned aerial vehicle according to claim 4 , wherein the flexible hollow column is made of elastic rubber material. 6 . 6 . The wingtip connection structure of a combined unmanned aerial vehicle according to claim 4 , wherein the boss is an outer hexagonal boss, and the outer hexagonal boss uses a magnetic conductive material. 7 . 7. The wingtip connection structure of the combined unmanned aerial vehicle according to claim 4, wherein the rotary electromagnetic damper comprises: a rotating part, which is matched and connected with the boss of the flexible connection component; The fixing part realizes the fixing of the rotating electromagnetic damper inside the card slot; The limit pin controls the maximum pitch angle when each unit of the combined UAV is flexibly connected. 8. The wingtip connection structure of the combined unmanned aerial vehicle according to claim 7, wherein the rear end of the rotating part is also connected with a plane scroll spring, and the plane scroll spring and the rotary After the electromagnetic dampers are connected, they are all installed in the card slots. 9. The wingtip connection structure of the combined unmanned aerial vehicle according to claim 8, wherein the wingtip connection between the individual units of the combined unmanned aerial vehicle is automatically adjusted to a flexible connection or a rigidity according to the size of the wind speed connection, automatically adjust the strength of the flexible connection according to the level of wind. 10. The wingtip connection structure of combined unmanned aerial vehicle according to claim 9, is characterized in that: When the rotating electromagnetic damper is energized, its rotating part generates an electromagnetic force, and the suction connection between the rotating part and the boss of the flexible connecting component is realized through the action of the electromagnetic force; When the rotary electromagnetic damper is powered off, the electromagnetic force disappears, and the connection between the rotating part and the boss is disconnected.

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