The invention discloses a folding wing unmanned aerial vehicle airfoil surface rotating folding mechanism design method which comprises the steps that an original point of a rotating folding mechanism is specified according to design requirements, the original point serves as a coordinate original point, in the same horizontal plane, an X axis is established in the unfolding direction of a wing in a folded state, a Y axis is established rightwards perpendicular to a longitudinal symmetry plane of a fuselage, and a Z axis is determined through a right-hand rule method; according to the rotation transformation process from the wing folding state to the wing complete unfolding state, transition coordinate systems are established respectively, and transformation matrixes corresponding to the rotation transformation process are calculated in sequence; multiplying the obtained transformation matrixes in sequence to obtain a complete rotation transformation matrix; calculating a direction vector of a rotating shaft of the rotary folding mechanism according to a given formula; and drawing the axis of the rotary folding mechanism at the origin position according to the direction vector. According to the design method disclosed by the invention, the dihedral angle and/or the mounting angle during unfolding can be eliminated in the folded state, so that the unfolding direction of the wing in the folded state is parallel to the axis of the fuselage, and the storage and transportation efficiency is improved.

    本发明公开了一种折叠翼无人机翼面旋转折叠机构设计方法,包括:根据设计需求指定旋转折叠机构原点,以该原点为坐标原点,在同一水平面内,沿折叠状态机翼展向建立X轴,垂直于机身纵向对称面向右建立Y轴,以右手定则方法确定Z轴;根据机翼折叠状态至机翼完全展开状态的旋转变换过程,分别建立过渡坐标系,依次计算与旋转变换过程相对应的变换矩阵;将得到的变换矩阵依次相乘,得到完整的旋转变换矩阵;由给出的公式计算出旋转折叠机构转轴的方向向量;根据方向向量在原点位置绘制旋转折叠机构轴线。本发明公开的设计方法在折叠状态下可消除展开时的上反角和/或安装角,使折叠状态机翼展向与机身轴线平行,提高储存运输效率。


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    Title :

    Design method of wing surface rotating folding mechanism of folding wing unmanned aerial vehicle


    Additional title:

    一种折叠翼无人机翼面旋转折叠机构设计方法


    Contributors:
    MA TIELIN (author) / WANG XIANGSHENG (author) / ZHANG XIAO'OU (author)

    Publication date :

    2022-12-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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