CN111204444A - Wing tip connecting structure of combined unmanned aerial vehicle - Google Patents
Wing tip connecting structure of combined unmanned aerial vehicle Download PDFInfo
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- CN111204444A CN111204444A CN202010189077.3A CN202010189077A CN111204444A CN 111204444 A CN111204444 A CN 111204444A CN 202010189077 A CN202010189077 A CN 202010189077A CN 111204444 A CN111204444 A CN 111204444A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
- F16D3/02—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
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Abstract
The invention discloses a wing tip connecting structure of a combined unmanned aerial vehicle, which comprises: a guide rail is arranged in the chord direction of a first wingtip of each single machine in the combined unmanned aerial vehicle, and a clamping groove is arranged in the chord direction of a second wingtip of each single machine; the flexible connecting assembly is arranged in the guide rail and moves along the guide rail under the action of external force; the rotary electromagnetic damper is arranged inside the clamping groove; the rotary electromagnetic damper is connected with the flexible connecting assembly in a matched mode, and flexible connection of wingtips among different single machines is achieved; the head of the rigid pin is provided with a taper and is arranged on the first wingtip; the hole opening of the pin hole is provided with a taper and is arranged on the second wing tip; and the rigid pin and the pin hole are connected in a matched manner, so that the rigid connection of wing tips among different single machines is realized. According to the wing tip connecting structure of the combined unmanned aerial vehicle, flexible connection or rigid connection can be automatically adjusted according to the wind power, and the wing tip connecting structure has the advantages of flexible and variable connecting mode, convenience in operation, strong stability and the like.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a wing tip connecting structure of a combined unmanned aerial vehicle.
Background
The small-sized fixed wing unmanned aerial vehicle (with the wingspan between 0.5m and 2 m) has the characteristics of small size, light weight, low cost, convenience in operation, flexibility, low noise, good concealment, easiness in networking and the like, and has wide application prospects in the civil and military fields, such as urban short-distance logistics transportation, electric power inspection, disaster monitoring and investigation, swarm operation, distributed reconnaissance and the like. However, the stability and wind resistance of the airplane are relatively weak due to the light weight and small inertia of the single drone platform. In addition, the small-sized fixed wing unmanned aerial vehicle is small in aspect ratio and large in induced resistance, so that the voyage and the time of voyage are shortened, and the long-distance flight task in long voyage is not favorably executed. Based on bionics and aerodynamic principles, an effective solution is to connect the wing tips of a plurality of small-sized fixed-wing drones together to form a detachable combined fixed-wing drone.
The connection technology between two adjacent unmanned aerial vehicle wings is the key technology of the combined unmanned aerial vehicle. The existing connection mode mainly comprises magnetic rigid connection and mechanical rigid connection, the unmanned aerial vehicle combined through the rigid connection mode is equivalent to an unmanned aerial vehicle with a large aspect ratio, the advantage is that the range can be prolonged, and the most outstanding problem is poor wind resistance. Moreover, the rigid connection can make the wing tip part bear large aerodynamic load, and the fracture accident is easy to happen.
Disclosure of Invention
The present invention aims to provide a wing tip connection structure of a combined unmanned aerial vehicle, which at least partially solves the technical problems proposed above.
The specific technical scheme is as follows:
the invention provides a wing tip connecting structure of a combined unmanned aerial vehicle, which mainly comprises:
a guide rail is arranged in the chord direction of a first wingtip of each single machine in the combined unmanned aerial vehicle, and a clamping groove is arranged in the chord direction of a second wingtip of each single machine;
the flexible connecting assembly is arranged in the guide rail and moves left and right along the guide rail under the action of external force;
the rotary electromagnetic damper is arranged inside the clamping groove;
the rotary electromagnetic damper is in adaptive connection with the flexible connecting assembly, so that the flexible connection of wingtips among different single machines is realized; and
the head of the rigid pin is provided with a taper and is arranged on the first wing tip;
the hole opening of the pin hole is provided with a taper and is arranged on the second wing tip;
and the rigid pin and the pin hole are connected in a matched manner, so that the rigid connection of wing tips among different single machines is realized.
In some embodiments, the rail further comprises, inside:
the stepping motor is fixed at the bottom of the guide rail;
the screw pair comprises a screw rod and a screw nut, the screw rod is connected with the stepping motor through a coupler, and the screw nut is fixedly connected with the flexible connecting assembly.
Further, the flexible connection assembly includes:
the left connecting sheet is connected to the screw nut;
the flexible hollow column is sleeved on the lead screw, and in some embodiments, the flexible hollow column is made of an elastic rubber material;
and the right connecting piece is connected with a boss, in some embodiments, the boss is an outer hexagonal boss, and the outer hexagonal boss is made of a magnetic conductive material.
In some embodiments, the above-described rotary electromagnetic damper comprises:
the rotating part is matched and connected with the boss of the flexible connecting component, further, the rear end of the rotating part is also connected with a plane spiral spring, and the plane spiral spring and the rotary electromagnetic damper are installed in the clamping groove after being connected;
the fixing part is used for fixing the rotary electromagnetic damper in the clamping groove;
and the limiting pin controls the maximum pitch angle of the combined unmanned aerial vehicle during flexible connection between the single units.
In some embodiments, the wingtip connection between the single units of the combined unmanned aerial vehicle is automatically adjusted to be flexible connection or rigid connection according to the wind speed, and the strength of the flexible connection is automatically adjusted according to the grade of wind power.
In some embodiments, when the rotary electromagnetic damper is electrified, the rotary part generates electromagnetic force, and the attraction connection between the rotary 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.
Compared with other technologies, the wing tip connecting structure of the combined unmanned aerial vehicle provided by the invention has the following beneficial effects:
(1) the invention adds a flexible connection mode of the wingtips, and the flexible connection overcomes the defect of easy fracture in the prior rigid connection;
(2) the invention realizes a novel wingtip connection mode by combining flexible connection and rigid connection, exerts the optimal flight performance of the unmanned aerial vehicle assembly through the conversion of the rigid connection and the flexible connection, can realize the automatic adjustment of connection flexibility according to different wind power grades, and realizes vibration reduction and self-stabilization by adopting a rotary electromagnetic damper and a plane volute spiral spring;
(3) the rotating electromagnetic damper is arranged, so that energy generated by gust can be absorbed in the rotating process, and the effect of buffering and vibration reduction is achieved, so that the maximum overshoot of the pitch angle of the unmanned aerial vehicle can be restrained, and the unmanned aerial vehicle is prevented from stalling; the invention also provides a plane volute spiral spring, and the pitch angle difference between two adjacent unmanned aerial vehicles can be offset by means of the restoring moment of the spring;
(4) the wingtip connecting structure has the advantages of rigid connection and flexible connection. During the taking-off and cruising stages, the wings of a plurality of unmanned aerial vehicles are connected together, and when no wind exists or the wind power is small, the wings of two adjacent unmanned aerial vehicles are rigidly connected through positioning pins and electromagnets, so that the voyage and the voyage are prolonged; when a large gust of wind occurs, the flexible connection between the two wings is realized through the flexible connection assembly, so that the wind resistance of the unmanned aerial vehicle assembly is improved;
(5) according to the wing tip connecting structure, the rotary electromagnetic damper is powered off in a task execution stage, so that the unmanned aerial vehicles are disassembled, each unmanned aerial vehicle independently executes a task, and the wing tip connecting structure has the advantages of variable connection mode, simplicity in operation, complete functions, high stability and the like.
Drawings
FIG. 1 is an exploded view of an assembly of a wing tip attachment structure in accordance with one embodiment of the present invention;
FIG. 2 is a schematic view of a connection end surface of a left wing in the wing tip connection structure according to an embodiment of the invention;
FIG. 3 is a schematic view of a connection end surface of a right wing in a wing tip connection structure according to an embodiment of the invention;
FIG. 4 is a schematic view of a flexible connection assembly in accordance with an embodiment of the present invention;
FIGS. 5A-5B are schematic diagrams of a rotary electromagnetic damper according to an embodiment of the present invention;
fig. 6 is a schematic combination diagram of a rigid connection between two wings of the combined type unmanned aerial vehicle according to an embodiment of the invention;
fig. 7 is a schematic diagram of a rigid combination applied to a plurality of small unmanned planes according to an embodiment of the present invention;
fig. 8 is a schematic combination diagram of a flexible connection between two wings of the combined type unmanned aerial vehicle according to an embodiment of the invention;
fig. 9 is a schematic view of a flexible assembly applied to a plurality of small unmanned planes according to an embodiment of the present invention;
fig. 10 is a schematic view of the combined unmanned aerial vehicle after the wing tips are disassembled after power failure according to the embodiment of the invention.
In the figure:
Lead screw 4, lead screw nut 5 and flexible connecting assembly 6
Rotary electromagnetic damper 7 plane scroll spring 8 right wing 9
Rigid pin 11, 13 guide rail 12 pin hole 91, 93
Flexible hollow column 62 of left connecting sheet 61 of clamping groove 92
Rotating part 71 of outer hexagonal boss 64 of right connecting piece 63
The rotation-limiting pins 72, 73 are fixed to the fixing portion 75 of the limiting pin 74
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The device technology designed by the invention enables the combined unmanned aerial vehicle to be combined and disassembled as required, rigid connection is adopted when no wind exists or the wind power is low, two wings of adjacent unmanned aerial vehicles are tightly connected together through the positioning pin and the electromagnet, and the voyage can be improved to the maximum extent; when a large gust of wind occurs, the two wings are in flexible connection, and the influence of the gust of wind on the stability of the unmanned aerial vehicle can be well eliminated through the flexible combination body, the rotary electromagnetic damper and the planar spiral spring; when the unmanned aerial vehicle reaches a task area to execute a task, the two unmanned aerial vehicles are disassembled in the air through electromagnetic force control, and each unmanned aerial vehicle independently executes a set task.
In view of this, an embodiment of the present invention provides a wingtip connection structure of a combined unmanned aerial vehicle, including:
a guide rail is arranged in the chord direction of a first wingtip of each single machine in the combined unmanned aerial vehicle, and a clamping groove is arranged in the chord direction of a second wingtip of each single machine;
the flexible connecting assembly is arranged in the guide rail and moves left and right along the guide rail under the action of external force;
the rotary electromagnetic damper is arranged inside the clamping groove;
and the rotary electromagnetic damper is in adaptive connection with the flexible connecting component, so that the flexible connection of wingtips among different units is realized.
It should be noted that, in this embodiment, the first wingtip and the second wingtip respectively represent wingtips of wings on two sides of one single machine, and in a specific implementation process, a guide rail or a clamping groove is arranged on the first wingtip, or a clamping groove or a guide rail is arranged on the second wingtip, which is not particularly limited.
Based on above embodiment, this combination formula unmanned aerial vehicle's wingtip connection structure in this embodiment can still include:
the head of the rigid pin is provided with a taper and is arranged on the first wing tip;
the hole opening of the pin hole is provided with a taper and is arranged on the second wing tip;
and the rigid pin and the pin hole are connected in a matched manner, so that the rigid connection of wing tips among different single machines is realized.
It should be noted that, in this embodiment, a rigid pin or a rigid pin hole is provided on the first wing tip, or a rigid pin hole or a rigid pin is provided on the second wing tip, which is also not limited, and the purpose of this embodiment is the same as that of the above embodiment, and is to implement rigid connection between the single units in the combined unmanned aerial vehicle through connection between the rigid pin and the rigid pin hole. Further, when the flexible connecting assembly is completely located inside the guide rail (i.e. the length of the flexible connecting assembly exposed to the guide rail is 0), the connection between the flexible connecting assembly in the guide rail and the rotating electromagnetic damper in the slot can also be used as a rigid connection mode. In some embodiments, the two rigid connections described herein may be combined or may be independent.
Based on the above embodiment, further, wherein, the guide rail further includes inside the guide rail:
the stepping motor is fixed at the bottom of the guide rail;
the screw pair comprises a screw rod and a screw nut, the screw rod is connected with the stepping motor through a coupler, and the screw nut is fixedly connected with the flexible connecting assembly.
It should be noted that the stepping motor and the screw pair are only one embodiment, and any embodiment that can realize the left-right movement of the flexible connecting assembly along the guide rail can be replaced.
In some embodiments, the rotary electromagnetic damper is further connected to a flat spiral spring, and the flat spiral spring and the rotary electromagnetic damper are both installed in the slot after being connected.
The present embodiment and the application scenario thereof will be further explained with reference to fig. 1 to 10.
Referring to fig. 1, the present embodiment is composed 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 assembly 6, a rotary electromagnetic damper 7, a flat spiral spring 8, a right wing 9, and the like. It should be noted that the left wing 1 and the right wing 9 are the first wingtip and the second wingtip, the guide rail 12 is disposed on the left wing 1, and the slot 92 is disposed on the right wing 9.
Referring to fig. 1 and 2 again, the specific implementation manner of the flexible connecting 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 drives the screw rod 4 to rotate through the coupler 3. The screw pair formed by the screw 4 and the screw nut 5 can change the rotation of the screw 4 into the movement of the screw nut 5 in the guide rail 12. One end of the flexible connecting assembly 6 is fixedly connected with the screw nut 5, and the movement of the screw nut 5 is controlled along with the rotation of the screw 4 so as to control the flexible connecting assembly 6 to move left and right in the wing guide rail. The parts (including the micro stepping motor 2, the coupler 3, the lead screw 4, the lead screw nut 5 and the flexible connecting assembly 6) described herein all belong to the mounting assembly on the left wing 1.
Referring to fig. 1 and 3 again, the rotary electromagnetic damper 7 and the flat spiral spring 8 are connected and then installed in the installation slot 92 of the right wing 9.
In some embodiments, the flexible connection assembly further comprises:
the left connecting sheet is connected to the screw nut;
the flexible hollow column is sleeved on the lead screw, and in some embodiments, the flexible hollow column is made of an elastic rubber material;
and the right connecting piece is connected with a boss, in some embodiments, the boss is an outer hexagonal boss, and the outer hexagonal boss is made of a magnetic conductive material.
In this embodiment, referring to fig. 4, the flexible connecting assembly 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 connecting sheet 61 and the right connecting sheet 63 are made of engineering plastics, so that the weight can be effectively reduced; the flexible hollow column 62 is made of hollow elastic rubber, and the material can transmit force and moment in three directions of pitching, rolling and yawing between two adjacent unmanned aerial vehicles and has good rebound and buffering vibration reduction effects; the outer hexagonal boss 64 is made of a magnetically permeable material. It should be noted that, the boss is preferably an outer hexagonal boss, but in the specific implementation, the shape and structure of the boss are not limited, and other polygonal bosses may be used.
In some embodiments, the above-described rotary electromagnetic damper comprises:
the rotating part is matched and connected with the boss of the flexible connecting assembly;
the fixing part is used for fixing the rotary electromagnetic damper in the clamping groove;
and the limiting pin controls the maximum pitch angle of the combined unmanned aerial vehicle during flexible connection between the single units.
In this embodiment, referring to fig. 5, the rotary electromagnetic damper 7 is mainly composed of a rotating portion 71, a fixed portion 75, rotary limit pins 72 and 73, and a fixed limit pin 74. The damping torque of the rotary electromagnetic damper changes with a change in the rotational speed of the rotating portion 71. The change rule is as follows: the rotating speed is increased, and the damping torque is also increased; the rotation speed is slowed down, and the damping torque is reduced. The rotary electromagnetic damper 7 can be completely embedded in the installation clamping groove 92 of the wing 9, and has no exposed part, so that the interference resistance is reduced.
Based on the above embodiment, referring to fig. 4, 5A and 5B again, the outer hexagonal boss 64 and the rotating portion 71 (here, the inner hexagonal groove forms a profile) of the rotary electromagnetic damper cooperate to transmit force and circumferential torque between two adjacent wings of the drone. When the rotary electromagnetic damper 7 is energized, the rotary portion 71 thereof generates electromagnetic force, and is tightly attracted to the outer hexagonal boss 64, so that it can transmit force in the axial direction. After the power is cut off, the outer hexagonal boss 64 and the rotating portion 71 can be separated by a weak external force. It should be noted that the structure of the rotating portion 71 of the rotating electromagnetic damper 71 changes with the structure of the boss of the flexible connecting assembly 6, and it is only necessary to ensure that the two structures can be connected in a matching manner.
The following describes in detail a specific combination manner of the wingtip connection structure of the combined unmanned aerial vehicle according to the present invention with reference to the above embodiments.
Generally, the specific combination mode is realized based on the following principles:
in the taking-off and cruising phases, wings of a plurality of unmanned aerial vehicles are connected together to run, fly, rotate and fly horizontally. When no wind exists or the wind power is small, adjacent unmanned aerial vehicles are in rigid connection, and a plurality of small unmanned aerial vehicles are combined into the unmanned aerial vehicle with the large aspect ratio; when meeting great unstable wind, flight controller controls step motor according to the wind speed information that airborne atmospheric data sensor surveyed and rotates, makes flexible hollow post stretch out the guide rail, and assembly unmanned aerial vehicle wing coupling mechanism turns into flexonics, according to the different connection flexibility of the automatic transform of wind-force level (in certain extent, wind-force is flexible big more greatly). There may be relative torsion within a limited angle between adjacent drones in the three rotational degrees of freedom directions.
The main advantages of this combination are:
when no wind exists or the wind power is small, gust wind has a weak influence on the stability of the unmanned aerial vehicle, and the unmanned aerial vehicles can greatly improve the aspect ratio, reduce the induced resistance and improve the lift-drag ratio through the tight rigid connection, so that the voyage and voyage are improved to the maximum extent; when a large gust of wind occurs, the influence of the gust of wind on the stability of the unmanned aerial vehicle can be well relieved through the flexible part and the damping spring mechanism at the connecting part, so that the overall wind resistance is improved;
in the task execution stage, the unmanned aerial vehicle is changed into a plurality of independent small unmanned aerial vehicles through a disassembling mechanism, and tasks are executed respectively.
Specifically, based on the above principle:
in some embodiments, the wingtip connection between the single units of the combined unmanned aerial vehicle is automatically adjusted to be flexible connection or rigid connection according to the wind speed, and the strength of the flexible connection is automatically adjusted according to the grade of wind power.
In this embodiment, for the rigid connection mode, rigid connection of the wing is realized by matching the two pins with tapered heads and the pin holes with tapered holes arranged in the chord direction of the end surface of the wing with the magnetic force of the rotating electromagnetic damper 7. Specifically, referring to fig. 2, 3 and 6, when there is no wind or the wind is small, the wing tips of two adjacent drones can be rigidly connected. Fig. 2 shows 11 and 13, which are two rigid pins on the left wing 1, and the heads of the pins are provided with certain tapers. Fig. 3 shows 91 and 93 two pin holes in right wing 9, with a taper. The purpose of the taper design is to guide the pin and the hole to fit smoothly within a certain range of non-concentricity. Fig. 6 is a schematic diagram of rigid connection between two wings, in which the rotary electromagnetic damper 7 is powered on, and the rotating portion 71 is tightly engaged with the outer hexagonal boss 64 of the flexible connecting member 6. The micro stepping motor 2 drives the screw rod 4 to rotate, further drives the screw rod nut 5, the flexible connecting component 6, the rotary electromagnetic damper 7 and the right wing 9 to move towards the left wing 1, finally the end faces of the two wings are tightly attached, and the rigid pins 11 and 13 are inserted into the pin holes 91 and 93, so that six degrees of freedom of relative movement of the two wings are limited, and rigid connection is achieved.
Based on the rigid connection mode, please refer to fig. 7 again, which is a schematic diagram of rigid connection of multiple unmanned aerial vehicles, the wing ends of adjacent unmanned aerial vehicles are tightly attached, all wings are kept on one plane, which is equivalent to one large aspect ratio unmanned aerial vehicle, the combined mode can reduce the tip vortex loss to the maximum extent, increase the lift-drag ratio, and thus improve the voyage and the time of voyage.
In this embodiment, to rigidity commentaries on classics flexonics, when meetting the gust, miniature step motor 2 is rotatory, makes flexonics subassembly 6 stretch out left wing, realizes the flexonics between two unmanned aerial vehicles. Specifically, referring to fig. 8, when a large gust of wind is encountered, the two wings are converted into a flexible connection. The rotary electromagnetic damper 7 keeps the electrified state and is attracted with the flexible connecting component 6, so that the wing 1 and the wing 9 are connected together. The micro stepping motor 2 drives the screw rod 4 to rotate reversely, and then pushes the screw rod nut 5 to move outwards, so that the flexible connecting component 6 extends out of the wing 1. The transmission of forces and moments between the two wings is now mainly dependent on the flexible hollow column 62 of the elastic transmission assembly 6.
Specifically, when meetting great gust, the unmanned aerial vehicle of gust position department receives the interference, and pitch angle speed can grow rapidly, and at this moment the rotatory electromagnetic damper 7 on the unmanned aerial vehicle of adjacent both sides can produce the great damping torque of opposite direction and prevent that the pitch angle continues to increase to guarantee the stability of whole assembly. Meanwhile, disturbance rotation kinetic energy can be consumed through the rotary motion of the rotary electromagnetic damper 7, so that the combined body quickly tends to a stable state. The center of the flat spiral spring 8 is connected with the rear end of the rotating part 71 of the rotary electromagnetic damper 7, and a pitching restoring moment can be generated, so that the pitching angles of two adjacent unmanned aerial vehicles are kept consistent. If the damping torque of rotatory electromagnetic damper 7 itself is not enough to offset the pitching moment that the gust produced, through the biggest angle of pitch of spacing pin control, prevent that unmanned aerial vehicle stall from falling.
It should be noted that, the extension length of the flexible hollow column 62 can be controlled by controlling the rotation angle of the micro stepping motor 2, that is, the flexible size of the connection is controlled, and then the size of the transmission force and the moment between two adjacent unmanned aerial vehicles can be adjusted: the longer the extension length is, the greater the flexibility is, and the weaker the torque transmission capacity is; the shorter the extension, the weaker the flexibility and the stronger the torque transmission capability; when the protrusion amount is 0, the rigid connection is degraded.
In this embodiment, for the flexible connection mode, please refer to fig. 9, which is a schematic diagram of a flexible combination of multiple small unmanned aerial vehicles, the unmanned aerial vehicles are connected together through a flexible assembly, and adjacent unmanned aerial vehicles can rotate relatively in three directions of rolling, pitching and yawing.
In some embodiments, when the rotary electromagnetic damper is electrified, the rotary part generates electromagnetic force, and the attraction connection between the rotary 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.
In this embodiment, when a task needs to be executed, please refer to fig. 10, which is a schematic view of a wing tip part of a disassembled unmanned aerial vehicle assembly, the rotary electromagnetic damper 7 is powered off, and the outer hexagonal boss 64 and the rotating part 71 can be separated under the action of weak external force, so that the combined unmanned aerial vehicle can be disassembled in the air. After disassembly, the micro stepping motor 2 rotates to drive the flexible connecting assembly 6 to retract into the guide rail groove of the left wing 1, and interference resistance of the wing is reduced.
Thus, the description of the embodiments of the present invention regarding the wingtip connection structure of the combined unmanned aerial vehicle and the implementation thereof is completed.
The above description is only for the preferred embodiment of the present invention, and the protection scope of the present invention is not limited thereto, and any modification, improvement and equivalent replacement made within the spirit and principle of the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a modular unmanned aerial vehicle's wingtip connection structure which characterized in that includes:
arranging a guide rail in the chord direction of a first wingtip of each single machine in the combined unmanned aerial vehicle, and arranging a clamping groove in the chord direction of a second wingtip of each single machine;
the flexible connecting assembly is arranged in the guide rail and moves left and right along the guide rail under the action of external force;
the rotary electromagnetic damper is arranged inside the clamping groove;
and the rotary electromagnetic damper is in adaptive connection with the flexible connecting component, so that the flexible connection of wingtips between different units is realized.
2. The wingtip connection structure of the combined unmanned aerial vehicle of claim 1, further comprising:
the head of the rigid pin is provided with a taper and is arranged on the first wing tip;
the hole opening of the pin hole is provided with a taper and is arranged on the second wing tip;
and the rigid pin is in adaptive connection with the pin hole, so that rigid connection of wing tips among different single machines is realized.
3. The wingtip connection structure of the combined unmanned aerial vehicle as claimed in claim 2, wherein the guide rail further comprises:
the stepping motor is fixed at the bottom of the guide rail;
the screw pair comprises a screw rod and a screw nut, the screw rod is connected with the stepping motor through a coupler, and the screw nut is fixedly connected with the flexible connecting assembly.
4. The wingtip connection structure of the combined unmanned aerial vehicle of claim 3, wherein the flexible connection assembly comprises:
the left connecting sheet is connected to the screw nut;
the flexible hollow column is sleeved on the lead screw;
the right connecting piece is connected with a boss.
5. The wingtip connection structure of the combined unmanned aerial vehicle of claim 4, wherein the flexible hollow column is made of an elastic rubber material.
6. The wing tip connection structure of the combined unmanned aerial vehicle of claim 4, wherein the boss is an outer hexagonal boss, and the outer hexagonal boss is made of a magnetic conductive material.
7. The wingtip connection structure of the combined unmanned aerial vehicle of claim 4, wherein the rotary electromagnetic damper comprises:
the rotating part is matched and connected with the boss of the flexible connecting assembly;
the fixing part is used for fixing the rotary electromagnetic damper in the clamping groove;
and the limiting pin controls the maximum pitch angle of the combined unmanned aerial vehicle during flexible connection between the single units.
8. The wingtip connection structure of the combined unmanned aerial vehicle as claimed in claim 7, wherein a spiral spring is further connected to a rear end of the rotation portion, and the spiral spring and the rotary electromagnetic damper are installed in the slot after being connected.
9. The wingtip connection structure of the combined unmanned aerial vehicle as claimed in claim 8, wherein the wingtip connection between the units of the combined unmanned aerial vehicle is automatically adjusted to be flexible connection or rigid connection according to the wind speed, and the strength of the flexible connection is automatically adjusted according to the grade of wind power.
10. The wingtip connection structure of the combined unmanned aerial vehicle of claim 9, wherein:
when the rotary electromagnetic damper is electrified, a rotating part of the rotary electromagnetic damper generates electromagnetic force, and the rotating part is connected with the boss of the flexible connecting component in an attracting mode under 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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