CN115056966B - Z-shaped folding wing unmanned aerial vehicle wing folding framework and working method thereof - Google Patents
Z-shaped folding wing unmanned aerial vehicle wing folding framework and working method thereof Download PDFInfo
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- CN115056966B CN115056966B CN202210722270.8A CN202210722270A CN115056966B CN 115056966 B CN115056966 B CN 115056966B CN 202210722270 A CN202210722270 A CN 202210722270A CN 115056966 B CN115056966 B CN 115056966B
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- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
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Abstract
The invention discloses a Z-shaped folding wing unmanned aerial vehicle wing folding framework and a working method thereof.A deflection part is rotationally connected to each of two sides of a framework main body, and two groups of deflection parts are symmetrically arranged; the deflection part comprises a folding mechanism for driving the folding action and keeping the folding angle and a wing connecting mechanism for connecting the main wing and keeping the wing surface horizontal; one side of the folding mechanism is rotationally connected with the framework main body, and the other side of the folding mechanism is rotationally connected with the wing connecting mechanism. The Z-shaped folding wing unmanned aerial vehicle wing folding mechanism is arranged at the top of an unmanned aerial vehicle body, is used for realizing the folding process of changing the Z-shaped folding wing from an upper single wing to a lower single wing or from the lower single wing to the upper single wing, and can stop the folding action at any folding angle. The main wing of the Z-shaped folding wing unmanned aerial vehicle can fly at any folding angle within a folding range under the condition of keeping the main wing horizontal, so that the effective wing span of the Z-shaped folding wing unmanned aerial vehicle is changed, and the unmanned aerial vehicle can obtain different aerodynamic performances.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to a Z-shaped folding wing unmanned aerial vehicle wing folding framework and a working method thereof.
Background
The aerodynamic design of the unmanned aerial vehicle plays a decisive role in the flight performance. On special unmanned vehicles, the aircraft is required to be capable of adapting to various flight conditions and flight tasks, and the aerodynamic characteristics of the aircraft need to be changed in real time. For example, the flexible wing unmanned aerial vehicle changes the wing profile thereof in real time in the air, and adapts to different flying heights and flying speeds to obtain the optimal pneumatic performance under the current flying condition; for the unmanned aerial vehicle with variable span length, the wing span is increased in the air to obtain higher lift force, so that the energy consumption is reduced in the cruising process, and the wings are contracted on the ground to be favorable for storage;
with the wide application of unmanned vehicles in the military field, the capability of the unmanned vehicles to adapt to various flight conditions and flight missions is also becoming more severe. Folding wing unmanned vehicles are receiving increasing attention as a potential unmanned vehicle with such capabilities. However, few of such folding wing unmanned aerial vehicles currently have the function of folding wings in real time according to flight conditions and task changes in the air, and most of such folding wing unmanned aerial vehicles currently only have a design with two states of wing unfolding and wing folding.
For the research and development of folding wing unmanned vehicles, the design thinking is very wide, and the main research and development thinking is divided into the following two types:
one is to simplify the design of the aircraft by using shape memory alloys, replacing complex mechanical, hydraulic and electromechanical actuators with actuators made of shape memory alloys, even making the entire wing part out of shape memory alloys, bending itself. With such a design, the weight of the actuator, as well as the volume of the actuator, can be reduced substantially.
Another development idea is to use traditional mechanical transmission, such as hydraulic transmission, electromechanical transmission and the like, to complete the folding action of the wing through components such as gears, hinges, pull rods and the like, but no consideration is given to how to complete any folding action of the wing in the flying process and keep normal flying.
In the above, the folding angle of the wing is changed by adopting the shape memory alloy, so that the wing can keep flying at any folding angle, but the cost is high, and the process is complex. In the traditional mechanical transmission, the flying of the aircraft at any folding angle is difficult to be ensured, and an additionally designed control system is needed when the folding of the multi-section wings is needed.
In addition, most of the existing folding wing unmanned aerial vehicles do not have the function of greatly folding the wings, such as changing the wings from the upper single wing position to the lower single wing position. While achieving such wing deformation with folded wings, both in terms of length and position, is helpful for folded wing aircraft to adapt to complex flight conditions and tasks, one problem with such designs is how to ensure that the primary wing surface providing lift remains level and that it is necessary to ensure that the stiffness of the folded frame is sufficient at any folding angle without affecting the stability of the aircraft.
Disclosure of Invention
The invention aims to provide a Z-shaped folding wing unmanned aerial vehicle wing folding framework and a working method thereof, and aims to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a Z-shaped folding wing unmanned aerial vehicle wing folding framework, which comprises a framework main body fixedly connected with a fuselage, wherein deflection parts are rotatably connected to two sides of the framework main body, and two groups of deflection parts are symmetrically arranged relative to the framework main body;
the deflection part comprises a folding mechanism for driving the folding action and keeping the folding angle and a wing connecting mechanism for connecting the main wing and keeping the wing surface horizontal; one side of the folding mechanism is rotatably connected with the framework main body, and the other side of the folding mechanism is rotatably connected with the wing connecting mechanism.
Preferably, the framework main body comprises a fixed plate, an inserting plate is fixedly arranged in the middle of the front end of the fixed plate, and a mounting hole is formed in the middle of the fixed plate; and connecting block assemblies are fixedly arranged on two sides of the fixing plate, and the two groups of connecting block assemblies are symmetrically arranged about the center line of the fixing plate.
Preferably, each group of connecting block assemblies comprises a fixed block, a bearing plate is fixedly arranged on one side of the fixed block, and the bearing plate is positioned on the outer side of the fixed block; the connecting block assembly further comprises a plurality of groups of hinged blocks, the groups of hinged blocks are fixedly arranged on the outer side of the fixed plate, and the top surfaces of the hinged blocks are flush with the fixed plate; a gap is reserved between every two adjacent groups of the hinge blocks; a plurality of groups all seted up first hinge hole on the articulated piece.
Preferably, the folding mechanism comprises a steering engine, the steering engine is fixedly connected with the bearing plate, and a narrow U-shaped frame is fixedly connected with the steering engine and one side close to the fixed block; the narrow U-shaped frame is fixedly connected with the fixed block; the steering engine is rotationally connected with a wide U-shaped frame, and a steering engine connecting rod is fixedly connected to one side of the wide U-shaped frame, which is far away from the steering engine; one end of the steering engine connecting rod, which is far away from the steering engine, is hinged with the wing connecting mechanism; and connecting rods are arranged on two sides of the steering engine connecting rod.
Preferably, the wing connecting mechanism comprises a connecting plate, the connecting plate comprises a transverse plate and a plurality of groups of vertical plates, and one side of the transverse plate, which is far away from the plurality of groups of vertical plates, is fixedly connected with a wing connecting plate; the plurality of groups of vertical plates are fixedly connected with the transverse plate, and the plurality of groups of vertical plates and the transverse plate are of an integrated structure; and a gap is reserved between every two adjacent groups of vertical plates.
Preferably, every group the cross-section of riser is the S-shaped, the riser is close to the second hinge hole has been seted up to the one end of diaphragm, the riser is kept away from the one end of diaphragm has been seted up the third hinge hole.
Preferably, one end of the connecting rod is hinged to the two groups of hinged blocks on one side of the steering engine connecting rod, one end of the connecting rod is located between the two groups of hinged blocks, and the connecting rod is connected with first hinged holes of the two groups of hinged blocks through a hollow shaft; the other end of the connecting rod is hinged with the two groups of vertical plates positioned on one side of the steering engine connecting rod, the other end of the connecting rod is positioned between the two groups of vertical plates, and the connecting rod is connected with third hinge holes of the two groups of vertical plates through a hollow shaft; one end part of the steering engine connecting rod, which is far away from the steering engine, is connected with the second hinge holes in the two sets of vertical plates.
Preferably, a first through groove is formed in the side wall of the connecting rod, a second through groove is formed in the side wall of the steering engine connecting rod, and the first through groove and the second through groove are detachably connected with the inner section wing.
The working method of the Z-shaped folding wing unmanned aerial vehicle wing folding framework comprises the following steps:
step 1: the fixed plate is fixedly arranged at the top of the unmanned aerial vehicle body;
step 2: the folding mechanism is driven by a steering engine to complete folding action, and the steering engine provides torque force, a connecting rod, a steering engine connecting rod and a wing connecting mechanism to support so as to keep the folding angle unchanged;
and step 3: acquiring the current flight condition of the aircraft, and changing the folding angle according to the flight condition to adapt to the current flight condition;
and 4, step 4: the folding angle is switched according to the actual flight condition and the flight task, and the aircraft keeps the flight state in the switching process
And 5: the flight task corresponds to improved parameters of the folding wings at all folding angles, a proper wing posture is determined, and the posture is maintained to complete the corresponding flight task; according to the flight condition and the flight mission, the folding angle is changed for multiple times in real time.
The following results from step 5 above:
a. when the unmanned aerial vehicle is in a take-off state, the folding mechanism is switched to an unfolding state;
b. when the unmanned aerial vehicle encounters turbulent flow and is difficult to control, the folding angles of the steering engine connecting rods and the two groups of connecting rods are increased, so that the wingspan is reduced, and the controllability of the unmanned aerial vehicle is enhanced;
c. when the aircraft is in a cruising state, the folding angles of the steering engine connecting rods and the two groups of connecting rods return to zero or are reduced so as to increase the wingspan and enable the aircraft to enter the cruising state;
d. when the aircraft needs to carry out penetration, the folding angles of the steering engine connecting rods and the two groups of connecting rods are increased so as to reduce the wingspan, enhance the controllability of the aircraft and simultaneously obtain the pneumatic performance in a diving state.
The invention discloses the following technical effects:
(1) The invention relates to a Z-shaped folding wing unmanned aerial vehicle folding framework, which is characterized in that a steering engine connecting rod, a fixing plate, a transverse plate and a vertical plate in a wing connecting mechanism form a four-bar-like mechanism; the similar four-bar mechanism completes folding at any folding angle, can meet special flight tasks such as requirements of a penetration task on the control sensitivity and lift-drag characteristics of the aircraft, and cannot influence the performance of the similar four-bar mechanism in a cruising state. By switching different folding angles, the aircraft can meet different aerodynamic characteristics required under complex flight conditions and flight tasks, the adaptability of the folding wing unmanned aircraft to the flight conditions and the flight tasks is improved, and the requirement on an airport is reduced; compared with the wings in the unfolded state, the wings in the downward folded state improve the operation sensitivity of the aircraft, and simultaneously can not greatly weaken the lift-drag characteristic of the aircraft, thereby effectively improving the penetration resistance of the unmanned aircraft, and simultaneously maintaining the reasonable performance of the unmanned aircraft in the cruising state.
(2) In addition, for the aerodynamic center of the aircraft, the aerodynamic center of the aircraft can be adjusted through the change of the folding angle, so that the low head moment of the aircraft is reduced or enhanced, the maneuvering sensitivity of the aircraft is improved, or the flight stability of the aircraft is enhanced.
(3) The working method of the folding framework of the Z-shaped folding wing unmanned aerial vehicle can change the folding angle of the folding framework according to different flight conditions and flight tasks, and the folding angle is switched for many times in the flight process, so that the adaptability of the folding wing unmanned aerial vehicle is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic view of a wing folding frame according to the present invention;
FIG. 2 is a schematic view of another view of the folding wing frame of the present invention;
FIG. 3 is a schematic structural view of the frame body of the present invention;
FIG. 4 is a schematic view of another perspective structure of the frame body of the present invention;
FIG. 5 is a schematic view of a wing attachment mechanism of the present invention;
FIG. 6 is a schematic view of a narrow U-shaped frame according to the present invention;
FIG. 7 is a schematic view of the structure of the wide U-shaped frame of the present invention;
FIG. 8 is a schematic view of a hollow shaft according to the present invention;
FIG. 9 is a schematic view of a connecting rod structure according to the present invention;
FIG. 10 is a schematic view of a steering engine connecting rod structure according to the present invention;
FIG. 11 is a schematic view of the steering engine of the present invention.
Wherein: 1. a frame body 101, a mounting hole; 102. inserting plates; 103. a fixed block; 104. carrying a plate; 105. a fixing plate; 106. a hinged block; 2. a connecting rod; 3. a wing connection mechanism; 301. a transverse plate; 302. a vertical plate; 303. a connecting plate; 304. a second hinge hole; 305. a third hinge hole; 4. a steering engine connecting rod; 5. a wide U-shaped frame; 6. a steering engine; 7. a narrow U-shaped frame; 8. a first through groove; 9. a hollow shaft; 10. a second through groove; 11. a first hinge hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1-3, a folding framework of a wing of a Z-shaped folding wing unmanned aerial vehicle is provided, which comprises a framework main body 1 fixedly connected with a fuselage, wherein two sides of the framework main body 1 are rotatably connected with deflection parts, and two groups of deflection parts are symmetrically arranged about the framework main body 1; the deflection part comprises a folding mechanism for driving the folding action and keeping the folding angle and a wing connecting mechanism 3 for connecting the main wing and keeping the wing surface horizontal; one side of the folding mechanism is rotationally connected with the framework main body 1, and the other side of the folding mechanism is rotationally connected with the wing connecting mechanism 3. A framework main body 1 is used for being attached to and connected with a machine body, a folding mechanism is fixed on the framework main body 1, a connecting rod 2 of the folding mechanism can be connected with an inner section wing to move together with the inner section wing, the connecting mechanism is combined and fixed with a main wing, the folding mechanism drives the connecting rod 2 to move, and the wing surface is kept to move horizontally and vertically through a four-bar-like mechanism. The connecting rod 2 of the folding mechanism is connected with an inner section wing with wing profiles and used for providing an additional lifting force folding mechanism under a partial folding angle to change the wing from an upper single wing into a lower single wing, and the folding angle of the folding mechanism is reversely folded downwards from 0-90 degrees and is used for reducing the wingspan of the aircraft and improving the maneuverability of the aircraft. The folding mechanism is used for realizing that the wing is changed into a forward Z-shaped folding wing from an upper single wing, the folding angle of the folding wing is folded from 0 degree to the upper direction until the main wing surfaces at the two ends are connected and stop, and the folding mechanism is used for improving the stability of the aircraft facing turbulent flow. And the folding action can be stopped at any folding angle, and the flying in the state is kept. By the folding framework, the main wing of the Z-shaped folding wing unmanned aerial vehicle can fly at any folding angle within a folding range under the condition of keeping the main wing horizontal, the effective wing span of the Z-shaped folding wing unmanned aerial vehicle is changed, and the unmanned aerial vehicle can obtain different aerodynamic performances to adapt to different flight conditions and flight tasks.
The folding angle of the folding mechanism during taking off and landing is any angle in the folding range. The folding mechanism ensures that a main wing connected with the wing connecting mechanism 3 keeps the wing surface level along with the change of the folding angle in the folding process through the design of a similar four-bar mechanism, and the wing surface of an inner section connected with the connecting rod 2 in the folding mechanism changes along with the connecting rod 2. The framework main body 1 is kept fixed in the folding process, and the connecting rod 2 in the folding mechanism is driven by the steering engine 6 to drive the wing connecting mechanism 3 to move horizontally in the longitudinal direction. The folding angle can be folded forwards or backwards according to the design of the aircraft; the link 2 in the folding mechanism may engage the inner wing section which will result in the folding direction being only one of forward or reverse folding.
The framework main body 1 comprises a fixed plate 105, the middle part of the front end of the fixed plate 105 is fixedly provided with an inserting plate 102, and the middle part of the fixed plate 105 is provided with a mounting hole 101; two sides of the fixing plate 105 are fixedly provided with connecting block assemblies, and the two groups of connecting block assemblies are symmetrically arranged about the center line of the fixing plate 105. The inserting plate 102 is inserted into a groove arranged on the machine body, and is aligned with a hole on the machine body through the mounting hole 101 and then fixed through a bolt.
Each group of connecting block components comprises a fixing block 103, a bearing plate 104 is fixedly arranged on one side of the fixing block 103, and the bearing plate 104 is positioned on the outer side of the fixing block 103; the connecting block assembly further comprises a plurality of groups of hinged blocks 106, the groups of hinged blocks 106 are all fixedly arranged on the outer side of the fixing plate 105, and the top surfaces of the hinged blocks 106 are flush with the fixing plate 105; a gap is reserved between every two adjacent groups of the hinge blocks 106; the first hinge holes 11 are formed in the plurality of groups of hinge blocks 106.
The folding mechanism comprises a steering engine 6, the steering engine 6 is fixedly connected with the bearing plate 104, and the steering engine 6 and one side close to the fixing block 103 are fixedly connected with a narrow U-shaped frame 7; the narrow U-shaped frame 7 is fixedly connected with the fixing block 103; the steering engine 6 is rotatably connected with a wide U-shaped frame 5, and one side of the wide U-shaped frame 5, which is far away from the steering engine 6, is fixedly connected with a steering engine connecting rod 4; one end of the steering engine connecting rod 4, which is far away from the steering engine 6, is hinged with the wing connecting mechanism 3; and connecting rods 2 are arranged on two sides of the steering engine connecting rod 4. Steering wheel 6 is the biax steering wheel, narrow U type frame 7 is U type steering wheel support, wide U type frame 5 is U type support, the framework main part 1 left and right sides respectively is equipped with a U type steering wheel support, all install a biax steering wheel on each U type steering wheel support, a U type support is all connected to diaxon around every biax steering wheel, all be equipped with the initiative rocker on each U type support of the left and right sides and be used for connecting the wing coupling mechanism who arranges in the left and right sides, framework main part 1 unilateral still is provided with four simultaneously, eight articulated piece is used for connecting the wing coupling mechanism 3 of framework main part 1 and both sides altogether in both sides. The connecting rod 2 is connected with the fixing plate 105 through the hollow shaft 9 and provides restraint to ensure that the connecting rod 2 can only rotate up and down around the hollow shaft.
Framework main part 1, steering wheel subassembly, steering wheel connecting rod 4 and connecting rod 2 have constituteed the symmetrical folding mechanism in left and right sides jointly, and foretell steering wheel subassembly comprises narrow U type frame 7, biax steering wheel and wide U type support. Because framework main part 1, steering wheel drive assembly, steering wheel connecting rod 4 and connecting rod 2 have constituted a set of special four connecting rod in plane 2 mechanisms respectively in framework main part both sides, the unilateral specifically as follows: the framework main body 1 and a steering engine driving component (the steering engine driving component comprises a steering engine, a narrow U-shaped frame, a wide U-shaped frame, a steering engine connecting rod and two groups of connecting rods) are used as a rack of the plane four-connecting-rod 2 mechanism; the steering engine connecting rod 4 and the connecting rod 2 respectively form two connecting rods in the mechanism; and the wing connection mechanism 3 acts as a link 2 in the mechanism. This 2 special points of four connecting rods in plane lie in the length of rack bar and 2 length equalities of connecting rod to two even rack bar length equals and are parallel, constitute a parallelogram, make the angle that connecting rod 2 and frame become not decided by even rack bar pivoted angle, wing coupling mechanism's angle can not receive steering wheel connecting rod 4 pivoted influence, steering wheel connecting rod 4's rotation only can make wing coupling mechanism take place translational motion, can be through the angle of reasonable change biax steering wheel, thereby it is folding to drive the Z word that folding mechanism accomplished the wing. The device is designed in a bilateral symmetry mode, so that the mechanism and the operation principle on the opposite side are the same as those of the device, when the angles generated by the double-shaft steering engines on the two sides are in mirror symmetry with respect to the framework main body 1, the position states of the mechanisms on the two sides are also in mirror symmetry with respect to the framework main body 1, and the unmanned aerial vehicle with high requirement on symmetry can work normally.
The wing connecting mechanism 3 comprises a connecting plate 303, the connecting plate 303 comprises a transverse plate 301 and a plurality of groups of vertical plates 302, and one side of the transverse plate 301, which is far away from the plurality of groups of vertical plates 302, is fixedly connected with the wing connecting plate 303; the plurality of sets of vertical plates 302 are fixedly connected with the transverse plate 301, and the plurality of sets of vertical plates 302 and the transverse plate 301 are of an integrated structure; and a gap is reserved between every two adjacent groups of vertical plates 302. The lower side of the curved surface of the connecting plate 303 is attached to the upper surface of the portion, close to the wing root, of the main wing, the front end of the connecting plate is attached to the front edge of the main wing, and the main wing needs to be cut into a plane close to the root portion of the main wing in the manufacturing process, so that the front end of the connecting plate 303 is attached tightly.
The section of each group of the vertical plates 302 is S-shaped, a second hinge hole 304 is formed at one end of each vertical plate 302 close to the transverse plate 301, and a third hinge hole 305 is formed at one end of each vertical plate 302 far away from the transverse plate 301. One end of the connecting rod 2 is hinged with two groups of hinged blocks 106 positioned on one side of the steering engine connecting rod 4, one end part of the connecting rod 2 is positioned between the two groups of hinged blocks 106, and the connecting rod 2 is connected with first hinged holes 11 of the two groups of hinged blocks 106 through a hollow shaft 9; the other end of the connecting rod 2 is hinged with two groups of vertical plates 302 positioned on one side of the steering engine connecting rod 4, the other end of the connecting rod 2 is positioned between the two groups of vertical plates 302, and the connecting rod 2 is connected with third hinge connection holes 305 of the two groups of vertical plates 302 through a hollow shaft 9; one end part of the steering engine connecting rod, which is far away from the steering engine 6, is connected with the second hinge holes 304 on the two groups of vertical plates 302 in the middle. A first through groove 8 is formed in the side wall of the connecting rod 2, a second through groove 10 is formed in the side wall of the steering engine connecting rod 4, the first through groove 8 and the second through groove 10 are detachably connected with an inner section wing, and the inner section wing can provide lift force in an unfolding state. The connecting rod 2 of the folding mechanism is selected according to specific wing profiles and can be connected with the inner section wing, the folding angle range is limited to an angle range from 0 degrees to the forward direction or the reverse direction due to the blocking of the inner section wing, and the folding angle range is determined according to the specific fuselage design. The connecting rod 2 of the folding mechanism is connected with an inner section wing with a wing profile, and the folding mechanism is used for providing additional lifting force under a partial folding angle, is used for changing the wing from an upper single wing to a lower single wing, and is reversely folded downwards from 0-90 degrees in the folding angle, so that the wingspan of the aircraft is reduced, and the maneuverability of the aircraft is improved. The folding mechanism is used for realizing that the wing is changed into a forward Z-shaped folding wing from an upper single wing, the folding angle of the folding wing is folded from 0 degree to the upper direction until the main wing surfaces at the two ends are connected and stop, and the folding mechanism is used for improving the stability of the aircraft facing turbulent flow. The connecting rod 2 of the folding mechanism is internally connected with an inner section wing with a wing profile, and the folding angle of the inner section wing can be randomly folded according to the forward direction or the reverse direction of the current fuselage.
The Z-shaped folding wing unmanned aerial vehicle folding frame has the functions of folding at any folding angle and keeping the folding angle to fly, the folding angle is determined according to specific flying conditions and flying tasks, and the wing connecting mechanism 3 is kept horizontal at any folding angle, so that the wing surface of a main wing connected to the wing connecting mechanism 3 is kept horizontal, and upward lifting force is provided. The working method comprises the following steps:
the four-bar-like mechanism is utilized to ensure that the wing surface of the main wing keeps horizontal in the folding process so as to provide upward lift force;
the folding mechanism is driven by the steering engine 6 to complete folding action, and the steering engine 6 provides torsion and is supported by a four-bar-like mechanism to keep the folding angle unchanged;
the folding angle is switched according to the actual flight condition and the flight task, and the aircraft keeps the flight state in the switching process.
The switching of the Z-shaped folding wing unmanned aerial vehicle folding frame to a proper folding angle according to the actual flight condition and the flight mission of the aerial vehicle comprises the following steps:
acquiring the current flight condition of the aircraft, and changing the folding angle according to the flight condition to adapt to the current flight condition;
determining a proper wing posture and keeping the posture to complete the corresponding flight task according to the correspondence between the flight task and improved parameters of the folding wings at all folding angles;
according to the flight conditions and the flight mission, the folding angle of the aircraft is changed for multiple times in real time so as to improve the pneumatic performance of the aircraft under different flight conditions and flight missions.
In some embodiments, the change of the wing attitude includes span change, change of the upper and lower positions of the wing surface, change of the sweep angle, and the like, and the switching of the wing attitude to a proper attitude according to the actual flight condition and the flight mission includes:
when the aircraft is in a shutdown state or a ground operation state, the Z-shaped folding wing unmanned aerial vehicle is folded to construct a structure and keep a completely folded state;
when the aircraft is in a take-off state, the folding framework of the Z-shaped folding wing unmanned aircraft is switched to an unfolding state;
when the aircraft is in turbulent flow, the folding structure of the Z-shaped folding wing unmanned aircraft is switched to a folding state;
when the aircraft is in a cruising state, the folding framework of the Z-shaped folding wing unmanned aircraft is switched to an unfolding state;
when the aircraft needs to carry out emergency defence, the folding framework of the Z-shaped folding wing unmanned aircraft is switched to a folding state.
The folding angle of the folding wing unmanned aerial vehicle can be changed according to different flight conditions and flight tasks, and the folding angle is switched for many times in the flight process, so that the adaptability of the folding wing unmanned aerial vehicle is greatly improved.
The working process is as follows: includes the following two cases
(1) The device is arranged on the unmanned aerial vehicle body, and the framework main body 1 is connected with the original body wing box. The wing changing direction is determined according to the wing installation position of the original aircraft, for example, when the original aircraft uses an upper single wing, the wing can be turned downwards, and when the original aircraft is a lower single wing, the wing can be turned upwards. The original aircraft is described by taking the lower single wing as an example.
When the aircraft is positioned on the ground, the double-shaft steering engine drives the wings to move downwards and lock, so that the wingspan of the aircraft is reduced, the ground space is saved, and the aircraft can be better suitable for narrow parking aprons and narrow taxiways.
When the aircraft is in the taking-off, landing and low-speed flight stages, the double-shaft steering engine drives the wings to move upwards and lock, so that a larger wing span and a higher wing ground clearance are obtained, the lift force is improved, the risk that the wings are damaged by ground foreign bodies is reduced, and the taking-off, landing and low-speed performance are improved. When the aircraft is accelerated from a low speed, the double-shaft steering engine drives the wings to move downwards gradually until the wings reach the stroke end and then are locked. During the gradual downward movement of the wing, the wingspan is gradually reduced, and the resistance of the aircraft is reduced. Meanwhile, the wingspan changing process is longer, the change of the aerodynamics is relatively soft, and the flight control is given enough time to adjust, so that the stability of the flight is favorably maintained. When the flying speed of the aircraft is reduced, the double-shaft steering engine drives the wings to gradually move upwards to increase the wingspan so as to improve the low-speed performance.
(2) The mechanism is arranged on the existing cruise missile, the framework main body 1 is connected with the installation position of the original winglet of the missile, and leads from the power source of the missile supply power to the steering engine 6.
When the missile is positioned in the launcher and the launching barrel, the missile wings are folded, so that the space is saved for a loader to carry more ammunition.
When the missile is launched, whether the missile wing is unfolded or not is determined according to the initial launching speed. For example, when the missile is launched from a ship, the initial speed is low, and the missile wing can be completely unfolded. At the moment, the double-shaft steering engine 6 drives the missile wing to unfold at a higher speed, so that enough lift force is provided for the missile. When the missile is launched from the air, if the launching initial speed is extremely high, the missile wing can not be unfolded.
When the missile is in a cruising configuration, the missile wing shape is slowly adjusted according to the calibrated airspeed measured by the missile atmosphere computer until the missile reaches the preset cruising airspeed. Under the condition, the missile can be ensured to cruise with extremely economical fuel consumption, and the missile range can be increased.
After the missile enters an attack configuration, the double-shaft steering engine drives the missile wings to retract quickly along with the rapid increase of the airspeed so as to reduce the resistance, so that the missile can fly at high speed, and the interception difficulty of enemies is increased.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (7)
- 5363 a folding wing folding framework of 1.Z type folding wing unmanned aerial vehicle is characterized in that: the structure comprises a framework main body (1) fixedly connected with a machine body, wherein deflection parts are rotatably connected to two sides of the framework main body (1), and two groups of deflection parts are symmetrically arranged relative to the framework main body (1); the deflection part comprises a folding mechanism for driving the folding action and keeping the folding angle and a wing connecting mechanism (3) for connecting the main wing and keeping the wing surface horizontal; one side of the folding mechanism is rotationally connected with the framework main body (1), and the other side of the folding mechanism is rotationally connected with the wing connecting mechanism (3); the framework main body (1) comprises a fixed plate (105), an inserting plate (102) is fixedly arranged in the middle of the front end of the fixed plate (105), and a mounting hole (101) is formed in the middle of the fixed plate (105); two sides of the fixing plate (105) are fixedly provided with connecting block assemblies, and the two groups of connecting block assemblies are symmetrically arranged around the center line of the fixing plate (105); each group of connecting block assemblies comprises a fixing block (103), a bearing plate (104) is fixedly arranged on one side of the fixing block (103), and the bearing plate (104) is positioned on the outer side of the fixing block (103); the connecting block assembly further comprises a plurality of groups of hinged blocks (106), the groups of hinged blocks (106) are fixedly arranged on the outer side of the fixing plate (105), and the top surfaces of the hinged blocks (106) are flush with the fixing plate (105); gaps are reserved between every two adjacent groups of the hinge blocks (106); the plurality of groups of hinging blocks (106) are provided with first hinging holes (11); the folding mechanism comprises a steering engine (6), the steering engine (6) is fixedly connected with the bearing plate (104), and the steering engine (6) and one side close to the fixing block (103) are fixedly connected with a narrow U-shaped frame (7); the narrow U-shaped frame (7) is fixedly connected with the fixing block (103); the steering engine (6) is rotatably connected with a wide U-shaped frame (5), and a steering engine connecting rod (4) is fixedly connected to one side, far away from the steering engine (6), of the wide U-shaped frame (5); one end, far away from the steering engine (6), of the steering engine connecting rod (4) is hinged to the wing connecting mechanism (3); and connecting rods (2) are arranged on two sides of the steering engine connecting rod (4).
- 2. The Z-shaped folding wing folding frame for unmanned aerial vehicle as claimed in claim 1, wherein: the wing connecting mechanism (3) comprises a connecting plate (303), the connecting plate (303) comprises a transverse plate (301) and a plurality of groups of vertical plates (302), and one side, far away from the groups of vertical plates (302), of the transverse plate (301) is fixedly connected with the wing connecting plate (303); the plurality of sets of vertical plates (302) are fixedly connected with the transverse plate (301), and the plurality of sets of vertical plates (302) and the transverse plate (301) are of an integrated structure; and a gap is reserved between every two adjacent groups of the vertical plates (302).
- 3. The Z-shaped folding wing folding frame for unmanned aerial vehicle as claimed in claim 2, wherein: every group the cross-section of riser (302) is the S-shaped, second hinge hole (304) have been seted up to riser (302) near the one end of diaphragm (301), third hinge hole (305) have been seted up to the one end that riser (302) kept away from diaphragm (301).
- 4. The folding framework of a Z-shaped folding wing unmanned aerial vehicle wing of claim 2, characterized in that: one end of the connecting rod (2) is hinged to the two groups of hinging blocks (106) positioned on one side of the steering engine connecting rod (4), one end of the connecting rod (2) is positioned between the two groups of hinging blocks (106), and the connecting rod (2) is connected with first hinging holes (11) of the two groups of hinging blocks (106) through a hollow shaft (9); the other end of the connecting rod (2) is hinged to two sets of vertical plates (302) located on one side of the steering engine connecting rod (4), the other end of the connecting rod (2) is located between the two sets of vertical plates (302), and the connecting rod (2) is connected with third hinge holes (305) of the two sets of vertical plates (302) through a hollow shaft (9); one end part of the steering engine connecting rod (4) far away from the steering engine (6) is connected with the second hinge holes (304) in the two sets of vertical plates (302) in the middle.
- 5. The Z-shaped folding wing unmanned aerial vehicle wing folding framework of claim 4, the method is characterized in that: a first through groove (8) is formed in the side wall of the connecting rod (2), a second through groove (10) is formed in the side wall of the steering engine connecting rod (4), and the first through groove (8) and the second through groove (10) are detachably connected with the inner section wing.
- 6.Z folding wing folding frame working method, based on any of claims 1-5, the Z folding wing folding frame of unmanned aerial vehicle, characterized in that: the method comprises the following steps:step 1: the framework main body (1) is fixedly arranged at the top of the unmanned aerial vehicle body;and 2, step: the folding mechanism is driven by a steering engine to complete folding action and is supported by the steering engine, a connecting rod, a steering engine connecting rod and a wing connecting mechanism to keep a folding angle;and 3, step 3: acquiring the current flight condition of the aircraft, and changing the folding angle according to the flight condition;and 4, step 4: the folding angle is switched according to the actual flight condition and the flight task, and the aircraft keeps the flight state in the switching processAnd 5: the flight task corresponds to improved parameters of the folding wings at all folding angles, and a proper wing posture is determined and maintained to complete the corresponding flight task; and the folding angle of the aircraft is changed for multiple times in real time according to the flight conditions and the flight mission.
- 7. The method for operating a folding framework of a Z-shaped folding wing unmanned aerial vehicle as claimed in claim 6, wherein: step 5 includes the following cases:a. when the unmanned aerial vehicle is in a take-off state, the folding mechanism is switched to an unfolding state;b. when the unmanned aerial vehicle encounters turbulent flow and is difficult to control, the folding angles of the steering engine connecting rods and the two groups of connecting rods are increased, so that the wingspan is reduced, and the controllability of the unmanned aerial vehicle is enhanced;c. when the aircraft is in a cruising state, the folding angles of the steering engine connecting rods and the two groups of connecting rods return to zero or are reduced so as to increase the wingspan and enable the aircraft to enter the cruising state;d. when the aircraft needs to carry out penetration, the folding angles of the steering engine connecting rods and the two groups of connecting rods are increased so as to reduce the wingspan, enhance the controllability of the aircraft and simultaneously obtain the pneumatic performance in a diving state.
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| CN202210722270.8A CN115056966B (en) | 2022-06-24 | 2022-06-24 | Z-shaped folding wing unmanned aerial vehicle wing folding framework and working method thereof |
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| CN202210722270.8A CN115056966B (en) | 2022-06-24 | 2022-06-24 | Z-shaped folding wing unmanned aerial vehicle wing folding framework and working method thereof |
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| US9789950B1 (en) * | 2013-04-24 | 2017-10-17 | Bird Aerospace Llc | Unmanned aerial vehicle (UAV) with multi-part foldable wings |
| CN106927022B (en) * | 2017-03-23 | 2023-08-15 | 清华大学 | Super-large aspect ratio aircraft based on self-unfolding folding wing technology |
| KR102133856B1 (en) * | 2019-05-29 | 2020-07-14 | 주식회사 풍산 | Glide wings and deployment apparatus thereof |
| CN110758720A (en) * | 2019-09-26 | 2020-02-07 | 四川天砺航空科技有限公司 | Empty dual-purpose unmanned aerial vehicle of water |
| CN113895604A (en) * | 2021-10-08 | 2022-01-07 | 重庆交通大学 | Collapsible allosteric unmanned aerial vehicle |
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