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CN-122009563-A - Folding sub-machine capable of being carried by one person and arrangement method thereof

CN122009563ACN 122009563 ACN122009563 ACN 122009563ACN-122009563-A

Abstract

The invention discloses a folding unmanned aerial vehicle capable of being carried by a single person, and belongs to the technical field of portable unmanned aerial vehicles. The carbon fiber folding type engine body structure is characterized in that the carbon fiber folding type engine body structure is a cylinder with the diameter less than or equal to 120mm and the length less than or equal to 500mm after folding, the weight less than or equal to 3.5kg, the standard emission pipe diameter is adapted, the cannon-jet adaptive structure consisting of a buffer tail wing, an overload protection cover and a guide key is provided, a millisecond-level automatic spring-off system and a modularized load interface are integrated, the cannon barrel type emission and single person carrying are compatible, the expansion can be completed within 0.3 seconds, and multi-type task loads can be switched by hot plug in 3 seconds. The invention solves the problems of large carrying size, slow deployment, single function and incapability of being compatible with a shooting platform of the traditional unmanned aerial vehicle, has cluster coordination capability, is suitable for multiple scenes such as reconnaissance, disaster relief, industrial inspection and the like, and obviously improves task adaptability and reliability in complex environments.

Inventors

  • WU YINGYUAN
  • Luo Daizhe
  • ZHANG YUMENG
  • Han Shechen
  • DU ZHENYANG

Assignees

  • 郑州大学

Dates

Publication Date
20260512
Application Date
20260106

Claims (10)

  1. 1. A single portable folding sub-machine comprising: 1) The foldable machine body structure comprises a machine body (101) made of carbon fiber composite materials, at least 4 foldable machine arms (102) connected to the machine body (101) through rotary hinges (201), an elastically foldable rotor wing system and a telescopic support frame, wherein the foldable machine arms (102) can be rotationally folded to be parallel to the axis of the machine body (101), the folded machine is in a cylindrical configuration, the diameter is less than or equal to 120mm, the length is less than or equal to 500mm, the weight of the machine is less than or equal to 3.5kg, and the foldable machine body structure is adaptive to the standard emission pipe diameter; 2) The locking mechanism is an electromagnetic lock and mechanical buckle dual-mode locking structure and is used for fixing the folding state or the unfolding state of the folding machine body structure; 3) The standardized load interface is arranged on the belly and comprises an electric connector and a quick-release guide rail, and is used for connecting a task load; 4) The gun shooting adaptive structure comprises a buffer tail wing which can be automatically unfolded after being shot, an overload protection cover which bears the shooting acceleration of more than or equal to 10000g, and a guide key matched with the rifling of the gun barrel.
  2. 2. The arrangement method of the folding sub-machine capable of being carried by a single person is characterized by comprising the following steps of: 1) The folding and storing step, namely rotating the folding arm (102) along the rotary hinge (201) to be parallel to the axis of the machine body (101), enabling the blades capable of being elastically folded to compress the built-in elastic piece and lock the built-in elastic piece in a folding state, and fixing the whole machine into a cylinder configuration through an electromagnetic lock and mechanical buckle double-mode locking mechanism to finish storage; 2) The unlocking step is that an unlocking instruction is sent to the electromagnetic lock, the electromagnetic lock is powered off to release constraint, and the locking of the folding state is released; 3) Under the action of the driving force of the built-in elastic energy storage component of the rotary hinge (201), the folding arm (102) springs to a working position along the limiting guide groove, synchronously drives the blades capable of being elastically folded to unlock and unfold to a working angle, and after unfolding, the mechanical buckle is automatically locked; 4) The load assembly step is that the task load is connected with the machine body (101) through a quick-release guide rail of a standardized load interface and an electric connector, so that electric and mechanical dual fixation is realized; 5) And the blasting deployment step is to load the folded and locked sub-machine into a standard launching tube, position the sub-machine with the rifling of the gun tube through a guide key, start a launching device, jet the sub-machine under the action of launching acceleration, automatically expand a buffering tail wing after the sub-machine is jetted, overload protection cover protects core components, and complete the expanding step to enter a flying state.
  3. 3. The single portable folding sub-machine according to claim 1, wherein the swivel hinge (201) comprises a linkage gear set to enable the symmetrically arranged folding arms (102) to fold or unfold synchronously for a folding time of less than or equal to 10 seconds.
  4. 4. The foldable sub-machine capable of being carried by one person according to claim 1, wherein the elastically foldable rotor system comprises a blade with a built-in torsion spring (202) and a driving motor, a limit groove is formed in the root of the blade, the blade is driven to rotate by releasing torque through the torsion spring (202) when the rotor is unfolded, the limit groove is meshed with a titanium alloy locating pin on a hub, the blade is locked in a tolerance range of +/-2 degrees of working angle, and asymmetric ratchets are arranged at the end parts of the locating pin to provide reverse locking force which is larger than or equal to 15N.
  5. 5. The folding sub-machine capable of being carried by one person according to claim 4, wherein the torsion spring (202) adopts a double-strand opposite winding structure, the material is 60Si2MnA, the wire diameter is 1.2mm, the surface is pre-coated with molybdenum disulfide lubricating grease conforming to GB/T3141, the torque fluctuation is less than or equal to 3% under a 10 Hz-200 Hz vibration environment, and the folding sub-machine is free from plastic deformation after 1.5 ten thousand folding cycles.
  6. 6. The foldable sub-machine capable of being carried by one person according to claim 1, wherein the standardized load interface adopts a double fixing structure of a magnetic contact and a buckle type mechanical lock, the electric connector is of 16-pin fool-proof design, is compatible with RS-485, CAN and Ethernet protocols, supports 3-second hot plug switching of task load, and the task load comprises a patrol module, an electronic interference device, a weather detector, a fire extinguishing bomb or a medical rescue bag.
  7. 7. The foldable sub-machine capable of being carried by one person according to claim 1, wherein the top of the machine body (101) is embedded with a foldable flat antenna, when folded, the foldable sub-machine is attached to the curved surface of the machine body (101), and when unfolded, the foldable sub-machine forms an included angle of 90 degrees with the machine body (101).
  8. 8. The arrangement method of the single-person portable folding sub-machine according to claim 2, wherein in the step 3, the whole spring-open process of the folding arm (102) is less than or equal to 0.3 seconds, the synchronous precision error of the symmetrical arm is less than or equal to 0.5 degrees, the unfolding time of the blade capable of being elastically folded is less than or equal to 0.17 seconds, and the unfolding time in a low-temperature environment of-40 ℃ is less than or equal to 0.17 seconds.
  9. 9. The foldable sub-machine capable of being carried by one person according to claim 1, wherein the body (101) is externally coated with a silica gel protective sleeve with the thickness of 2.5mm plus or minus 0.3mm, the shore hardness is 40A plus or minus 2A, the weight distribution of the whole machine is 45% of the body (101), 30% of a battery compartment, 25% of a load interface, and the backpack swing inertia is less than or equal to 0.08 kg-m < 2 >.
  10. 10. The arrangement method of the foldable sub-machines capable of being carried by one person according to claim 2, wherein in the step 5, the sub-machines realize cluster cooperation through a Mesh ad hoc network system after being emitted, the double-frequency hopping rate is 1000 hops/second, the hardware encryption delay is less than or equal to 1 mu s, the communication rate is more than 95% under the strong interference of-90 dBm, and the breakpoint reconstruction time is less than or equal to 50ms.

Description

Folding sub-machine capable of being carried by one person and arrangement method thereof Technical Field The invention belongs to the technical field of portable unmanned aerial vehicles, and particularly relates to a foldable multifunctional unmanned aerial vehicle system which can be carried by a single person and is compatible with barrel type emission, and the multifunctional unmanned aerial vehicle system has the advantages of convenience in carrying, rapid deployment, cluster cooperation and multi-task adaptation capability, and is suitable for multiple fields of disaster relief, unmanned detection, geographical survey, emergency communication and the like. Background The portable unmanned aerial vehicle plays an irreplaceable role in the fields of disaster relief, geographical survey and the like as special equipment of light-weight operation scenes, and the portable unmanned aerial vehicle has the core complaints of realizing diversified tasks such as regional reconnaissance, target positioning, material delivery and the like through flexible deployment, so that the high-efficiency operation requirements of a single person or a small team under the conditions of no fixed infrastructure and complex terrain are met. However, the prior art has a plurality of limitations, and is difficult to adapt to the severe requirements of actual operation. The main stream folding unmanned aerial vehicle has certain portability, but the basic structure adopts a traditional hinge connected folding wing/arm, a single material fuselage frame and a simple mechanical locking mechanism, a standardized load interface is not arranged, so that the folded size is usually more than 20 multiplied by 15 multiplied by 10cm, a special backpack is still required to be carried, the requirement of single light operation is difficult to meet, meanwhile, the deployment process of the main stream folding unmanned aerial vehicle needs more than 6 steps of manual operation, the time consumption is more than 60 seconds (unmanned aerial vehicle emergency response white paper 2024), gold treatment time is easily delayed in an emergency scene of competing for seconds, specialized loads such as mapping, relay and the like cannot be quickly switched due to lack of a unified interface, and a single task can only execute a single function. Aiming at the development of rapid deployment demands, the gun barrel type unmanned aerial vehicle is provided with a special transmitter with the weight exceeding 8kg in a basic structure, adopts a single-machine independent control mode, and a folding mechanism only depends on a basic hinge and a lock catch, so that the transmitter is heavy and needs double cooperative transportation, is difficult to be unfolded in complex terrains such as ruins, canyons and the like, has no cluster cooperative capability, cannot construct a cooperative survey network, greatly limits the working efficiency under the complex terrains, cannot tolerate extreme overload when being shot, and cannot meet the core requirements of second-level deployment, single-person operation and multifunctional cooperation under the complex environment. Disclosure of Invention The invention aims to solve the technical problems that the existing portable unmanned aerial vehicle has large carrying size, low deployment speed, single function and poor environmental suitability, is not compatible with a shooting platform, and the existing shooting unmanned aerial vehicle is heavy, needs double operation, has no cluster cooperative capability, and is poor in environmental suitability. In order to solve the technical problems, the technical scheme is characterized in that the integrated design of portability, quick deployment, multifunctional adaptation and shot compatibility is realized through the deep fusion of a folding machine body structure, a millisecond folding and flicking system, a modularized load interface and a shot adaptation structure, and the integrated design is specifically as follows: The folding machine body structure is characterized in that a machine body frame made of carbon fiber composite materials is matched with four groups of symmetrically distributed folding machine arms, the folding machine arms are connected with the machine body through gear linkage hinges and can be rotatably folded to be parallel to the axis of the machine body, the folding machine body is in a cylindrical configuration, the size is accurately controlled to be smaller than or equal to 120mm in diameter and smaller than or equal to 500mm in length, the weight of the machine body is smaller than or equal to 3.5kg, the standard emission pipe diameter is adapted, the span of a front machine arm is 320mm after the folding machine arm is unfolded, and the span of a rear machine arm is 280mm, so that a complete flight configuration is formed. The outside of the machine body is coated with a silica gel protective sleeve (Shore hardness 40 A+/-2A) with the thic