CN108482645B - Deformable wing mechanism based on scissor linkage framework and sliding skin - Google Patents
Deformable wing mechanism based on scissor linkage framework and sliding skin Download PDFInfo
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- CN108482645B CN108482645B CN201810360306.6A CN201810360306A CN108482645B CN 108482645 B CN108482645 B CN 108482645B CN 201810360306 A CN201810360306 A CN 201810360306A CN 108482645 B CN108482645 B CN 108482645B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/40—Varying angle of sweep
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/54—Varying in area
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Abstract
A wing deformation mechanism based on a scissor linkage framework and a sliding skin relates to the technical field of aerospace equipment and equipment. The invention solves the problems that the existing deformation wing has single deformation function, can only realize one of deformation of sweep-back, area and spread-out length, and can not realize the folding of the rigid skin of the wing. The invention comprises a scissor linkage framework, a driving device and a sliding skin arranged outside the scissor linkage framework, wherein the sliding skin is fixedly arranged on the scissor linkage framework, the scissor linkage framework drives the sliding skin to fold or unfold layer by layer, and the driving device drives the scissor linkage framework to fold and unfold the whole deformable wing mechanism. The invention can realize the changes of the span length, the area and the sweepback angle of the machine through the action of the mechanism. The morphing wing mechanism may be used for morphing a wing section of an aircraft. The invention can be used for wing structures of various deformable aircrafts.
Description
Technical Field
The invention relates to the technical field of aerospace equipment and equipment, in particular to a deformable wing mechanism based on a scissor linkage framework and a sliding skin.
Background
Because the geometry of the traditional aircraft is basically determined and unchanged, the system model of the traditional aircraft is basically fixed, and only certain specific flights can be carried out and special tasks can be completed in the same atmospheric environment. With the increasing complexity of the application of the aircraft in the military and civil fields, an aircraft which can have a larger flight airspace and speed range, can take high and low altitudes and high and low speeds into consideration, even takes off from the ground and flies through the atmosphere so as to execute various reconnaissance, attack and other complex tasks is urgently needed. Conventional aircraft are difficult to adapt to such wide variations in flight environment parameters and maintain excellent performance at all times. The deformable aircraft is a multipurpose and polymorphic aircraft with a brand-new concept, can be deformed in a self-adaptive manner according to the requirements of flight environment, flight profile, combat missions and the like, and enables the flight path, flight height, flight speed and the like to be flexible, changeable and flexible, so as to exert the optimal flight performance of the aircraft. The deformable aircraft can be applied to traditional civil aircrafts and small unmanned aerial vehicles, and the economic benefit of the deformable aircraft is more prominent. The missile is applied to the missile in war, the flight performance of the missile can be greatly improved in violent enemy and my fight and complex war environments, and the accurate fighting capability is realized.
Due to the attractive prospect of the morphing aircraft, research institutions such as the national aeronautics and astronautics administration (NASA), the Defense Advanced Research Planning Administration (DARPA), the European space agency and the like all form a special group, pre-research the special group and obtain a plurality of research results. At present, various principle models have been designed and developed, and the deformation aircraft is mainly applied to various deformation fighters and cruise missiles. The American F-111, F-14 fighter and B-1 bomber have variable sweepback capability, and the XB-70 supersonic bomber wing tip can be bent downwards to produce compression lift force. In addition to the united states, russia also has several sweepback aircraft, including mig-23 fighters, su-24 fighter bombers, etc. In addition, English and Germany have invested huge amounts of research in the field of deformable aircrafts.
At present, deformation of a morphing aircraft is mainly reflected in deformation of a wing, for example, a plane shape of the wing changes, including changing a wing area, changing a wing span length, changing a sweep angle and the like; and the chord length of the wing, the camber, the thickness, the torsion angle and the like are also changed. The deformation of the wing can well improve the performance of the aircraft, and the flight resistance can be reduced by the change of the sweepback angle when a large unmanned aerial vehicle or a guided missile flies at the transonic speed; the unmanned aerial vehicle realizes quick strike by small sweepback angle when scouting around and increasing sweepback angle when finding potential targets. The axe cruise missile adopts the variable-span long missile wing, and the cruise range can be greatly increased. The aerodynamic performance and the maneuverability of the medium-low speed fighter and missile can be better improved through the change of the wing shape.
In conclusion, the existing deformation wing has the problems that the deformation function is single, only one of sweepback, area and expansion length can be changed, and the folding of the rigid skin of the wing cannot be realized.
Disclosure of Invention
The invention aims to solve the problems that the existing deformation wing has a single deformation function, can only realize one of deformation of sweepback, area and expansion length, and cannot realize folding of rigid skin of the wing, and further provides a deformation wing mechanism based on a scissor linkage framework and a sliding skin.
The technical scheme of the invention is as follows:
the scissor linkage framework comprises a supporting seat, N bases, N supporting frameworks and N groups of scissor units with different lengths,
the N bases comprise a first base, a second base, a third base, a fourth base, … … and an Nth base, the first base to the Nth base are sequentially and uniformly distributed on the supporting seat from front to back,
the N supporting frameworks comprise a first supporting framework, a second supporting framework, a third supporting framework, a fourth supporting framework, … … and an Nth supporting framework, the first supporting framework to the Nth supporting framework are sequentially connected with the corresponding first base to the corresponding Nth base in a rotating way from outside to inside, the N supporting frameworks are arranged in parallel,
the N groups of shearing and hinging units comprise a first shearing and hinging unit, a second shearing and hinging unit, a third shearing and hinging unit, a fourth shearing and hinging unit, … … and an Nth shearing and hinging unit, the N groups of shearing and hinging units are arranged in parallel, the lengths from the first shearing and hinging unit to the Nth shearing and hinging unit are sequentially increased from front to back,
the first shearing and hinging unit comprises two V-shaped shearing and hinging assemblies, and each V-shaped shearing and hinging assembly is formed by hinging two rod pieces together in a V shape; wherein the hinge joint of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework, the hinge joint of the other V-shaped shearing and hinging component is hinged with the supporting seat or the second base corresponding to the supporting seat, the end parts of the two V-shaped shearing and hinging components are mutually hinged to form a parallelogram connecting rod structure,
the second shearing and hinging unit comprises two V-shaped shearing and hinging assemblies and an X-shaped shearing and hinging assembly, and the X-shaped shearing and hinging assembly is formed by hinging two rod pieces together in an X shape; wherein the hinge joint of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework, the hinge joint of the other V-shaped shearing and hinging component is hinged with the supporting seat or the corresponding third base, the hinge joint of the X-shaped shearing and hinging component is hinged with the corresponding part of the second supporting framework, the end parts of the X-shaped shearing and hinging components are respectively hinged with the end parts of the two V-shaped shearing and hinging components to form a parallelogram connecting rod structure,
the third shearing and hinging unit comprises two V-shaped shearing and hinging components and two X-shaped shearing and hinging components, wherein the hinging part of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework, the hinging part of the other V-shaped shearing and hinging component is hinged with the supporting seat or a fourth base corresponding to the supporting seat, the hinging parts of the two X-shaped shearing and hinging components are respectively hinged with the corresponding parts of the second supporting framework and the third supporting framework, the two X-shaped shearing and hinging components are hinged to form a parallelogram connecting rod structure, the end parts of the two X-shaped shearing and hinging components are respectively hinged with the end parts of the two V-shaped shearing and hinging components to form a parallelogram connecting rod structure,
the fourth shearing and hinging unit comprises two V-shaped shearing and hinging components and three X-shaped shearing and hinging components, wherein the hinging part of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework, the hinging part of the other V-shaped shearing and hinging component is hinged with the supporting seat or a fifth base corresponding to the supporting seat, the hinging parts of the three X-shaped shearing and hinging components are respectively hinged with the corresponding parts of the second supporting framework, the third supporting framework and the fourth supporting framework, the three X-shaped shearing and hinging components are sequentially hinged to form a parallelogram connecting rod structure, the end parts of the two X-shaped shearing and hinging components positioned at the end parts are respectively hinged with the end parts of the two V-shaped shearing and hinging components to form a parallelogram connecting rod structure,
by analogy, the Nth shearing and hinging unit comprises two V-shaped shearing and hinging assemblies and N-1X-shaped shearing and hinging assemblies, wherein the hinged part of one V-shaped shearing and hinging assembly is hinged with the corresponding part of the first supporting framework, the hinged part of the other V-shaped shearing and hinging assembly is hinged with the end part of the supporting seat, the hinged parts of the N-1X-shaped shearing and hinging assemblies are respectively hinged with the second supporting framework, the third supporting framework, the fourth supporting framework, … … and the Nth supporting framework, the N-1X-shaped shearing and hinging assemblies are sequentially hinged to form a parallelogram connecting rod structure, the end parts of the two X-shaped shearing and hinging assemblies at the end parts are respectively hinged with the end parts of the two V-shaped shearing and hinging assemblies to form a parallelogram connecting rod structure, and the N supporting frameworks realize synchronous motion through N groups of shearing and hinging units with different lengths.
Furthermore, the scissors linkage framework further comprises N first hinges, and the N groups of scissors units are respectively hinged with the supporting seat or the base corresponding to the supporting seat through the N first hinges.
Further, the shearing fork linkage framework further comprises a plurality of second hinges, and each X-shaped shearing and hinging assembly in the shearing and hinging unit is hinged with the corresponding supporting framework through the second hinges.
Further, the scissors linkage framework further comprises N third hinges, and the N support frameworks are hinged to the N bases through the N third hinges respectively.
Further, the scissor linkage framework further comprises N fourth hinges, and the N groups of scissor units are hinged to the first supporting framework through the N fourth hinges respectively.
Furthermore, the sliding skin is composed of N skins which are arranged in a layered mode, the length of the N skins is gradually reduced from outside to inside, the two adjacent skins are connected in a sliding mode, the N skins comprise a first skin, a second skin, a third skin, a fourth skin, … … and an Nth skin, and the first skin to the Nth skin are fixedly connected with a first supporting framework to an Nth supporting framework which correspond to the first skin and the Nth skin respectively.
Further, the N skin pieces are all rigid skin pieces, and the gap between every two adjacent skin pieces is 0.5 mm.
Furthermore, the driving device comprises an electric push rod and two motor mounting plates, the electric push rod base is hinged with the wing body structure through one motor mounting plate, and the tail end of the electric push rod is hinged with the third support framework through the other motor mounting plate.
Further, the degree of freedom of the morphing wing mechanism is 1.
Compared with the prior art, the invention has the following effects:
1. the wing framework with variable span length and variable area can be realized while changing the sweepback angle, the deformable wing mechanism of the invention is composed of the deformable scissors linkage framework at the inner side and the sliding skin at the outer side, when the scissors linkage framework deforms, the rigid skin riveted on the scissors linkage framework moves along with the scissors linkage framework, and the integral extension and folding of the deformable wing mechanism are realized. The change of the span length, the area and the sweep angle of the aircraft can be realized through the action of the mechanism. The morphing wing mechanism may be used for morphing a wing section of an aircraft. Taking a deformed wing with the chord length of 15m and the spreading length of 3m in a furled state as an example, when the sweepback angle is 30 degrees, the folding-spreading ratio can reach 69.3 percent.
2. The invention has simple structure, the scissor linkage framework only comprises the revolute pair and the rod piece, the production and the installation are more convenient, the invention is suitable for large-scale production and manufacture, and the manufacturing cost is lower.
3. The electric push rod is controlled to do linear motion, the linear motion can be converted into rotary motion of the supporting framework hinged to the tail end of the push rod, the shearing and hinging unit is connected with the supporting framework and accordingly does telescopic motion along with the rotation of the supporting framework, and all the supporting frameworks and the shearing and hinging unit are connected together through the rotary pair, so that the telescopic motion of the whole structure can be controlled by controlling the motion of the electric push rod.
Drawings
FIG. 1 is a schematic structural view of a morphing wing mechanism of the present invention;
FIG. 2 is a schematic structural view of a scissors linkage frame;
FIG. 3 is a schematic view of a scissors linkage frame in a fully deployed state;
FIG. 4 is a schematic view of a scissors linkage frame in a fully collapsed state;
FIG. 5 is a schematic structural view of a sliding skin;
fig. 6 is a partial enlarged view of fig. 5 at I.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1, and the morphing wing mechanism based on a scissors linkage skeleton and a sliding skin of the embodiment includes a scissors linkage skeleton 1, a driving device and a sliding skin 3 installed outside the scissors linkage skeleton 1, the sliding skin 3 is fixedly installed on the scissors linkage skeleton 1, the scissors linkage skeleton 1 drives the sliding skin 3 to fold or unfold layer by layer, and the driving device drives the scissors linkage skeleton 1 to fold and unfold the entire morphing wing mechanism.
The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 4, the scissors linkage skeleton 1 of the present embodiment includes a support base 17, N bases, N support skeletons, and N sets of scissors units with different lengths (the number of N can be selected according to the requirement of wingspan area, and the modular design is adopted, the larger the wing area is, the larger N is),
the N bases comprise a first base 13, a second base 14, a third base 15, a fourth base 16, … … and an Nth base, the first base 13 to the Nth base are sequentially and uniformly distributed on a supporting seat 17 from front to back,
the N supporting frameworks comprise a first supporting framework 11, a second supporting framework 10, a third supporting framework 9, a fourth supporting framework 8, … … and an Nth supporting framework, the first supporting framework 11 to the Nth supporting framework are sequentially connected with a first base 13 to an Nth base corresponding to the first supporting framework from outside to inside in a rotating manner, the N supporting frameworks are arranged in parallel,
the N groups of shearing and hinging units comprise a first shearing and hinging unit 21, a second shearing and hinging unit 20, a third shearing and hinging unit 19, a fourth shearing and hinging unit 18, … … and an Nth shearing and hinging unit, the N groups of shearing and hinging units are arranged in parallel, the lengths of the first shearing and hinging unit 21 to the Nth shearing and hinging unit are sequentially increased from front to back,
the first shearing and hinging unit 21 comprises two V-shaped shearing and hinging assemblies, and each V-shaped shearing and hinging assembly is formed by hinging two rod pieces together in a V shape; wherein the hinge joint of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework 11, the hinge joint of the other V-shaped shearing and hinging component is hinged with the supporting seat 17 or the second base 14 corresponding to the supporting seat, the end parts of the two V-shaped shearing and hinging components are mutually hinged to form a parallelogram connecting rod structure,
the second shearing and hinging unit 20 comprises two V-shaped shearing and hinging assemblies and an X-shaped shearing and hinging assembly, wherein the X-shaped shearing and hinging assembly is formed by hinging two rod pieces together in an X shape; wherein the hinge joint of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework 11, the hinge joint of the other V-shaped shearing and hinging component is hinged with the supporting seat 17 or the third base 15 corresponding to the supporting seat, the hinge joint of the X-shaped shearing and hinging component is hinged with the corresponding part of the second supporting framework 10, the end parts of the X-shaped shearing and hinging components are respectively hinged with the end parts of the two V-shaped shearing and hinging components to form a parallelogram connecting rod structure,
the third shearing and hinging unit 19 comprises two V-shaped shearing and hinging components and two X-shaped shearing and hinging components, wherein the hinging part of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework 11, the hinging part of the other V-shaped shearing and hinging component is hinged with the supporting seat 17 or the fourth base 16 corresponding to the supporting seat, the hinging parts of the two X-shaped shearing and hinging components are respectively hinged with the corresponding parts of the second supporting framework 10 and the third supporting framework 9, the two X-shaped shearing and hinging components are hinged to form a parallelogram connecting rod structure, the end parts of the two X-shaped shearing and hinging components are respectively hinged with the end parts of the two V-shaped shearing and hinging components to form a parallelogram connecting rod structure,
the fourth shearing and hinging unit 18 comprises two V-shaped shearing and hinging components and three X-shaped shearing and hinging components, wherein the hinging part of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework 11, the hinging part of the other V-shaped shearing and hinging component is hinged with the supporting seat 17 or a fifth base corresponding to the supporting seat, the hinging parts of the three X-shaped shearing and hinging components are respectively hinged with the corresponding parts of the second supporting framework 10, the third supporting framework 9 and the fourth supporting framework 8, the three X-shaped shearing and hinging components are sequentially hinged to form a parallelogram connecting rod structure, the end parts of the two X-shaped shearing and hinging components positioned at the end parts are respectively hinged with the end parts of the two V-shaped shearing and hinging components to form a parallelogram connecting rod structure,
by analogy, the Nth shearing and hinging unit comprises two V-shaped shearing and hinging assemblies and N-1X-shaped shearing and hinging assemblies, wherein the hinged part of one V-shaped shearing and hinging assembly is hinged with the corresponding part of the first supporting framework 11, the hinged part of the other V-shaped shearing and hinging assembly is hinged with the end part of the supporting seat 17, the hinged parts of the N-1X-shaped shearing and hinging assemblies are respectively hinged with the second supporting framework 10, the third supporting framework 9, the fourth supporting framework 8, … … and the Nth supporting framework, the N-1X-shaped shearing and hinging assemblies are sequentially hinged to form a parallelogram connecting rod structure, the end parts of the two X-shaped shearing and hinging assemblies at the end parts are respectively hinged with the end parts of the two V-shaped shearing and hinging assemblies to form a parallelogram connecting rod structure, and synchronous motion is realized between the N supporting frameworks through N groups of shearing and hinging units with different lengths. According to the arrangement, the linkage mechanism adopted by the wing deformation mechanism is a scissor fork mechanism, the wing deformation mechanism has the advantages of compact structure, convenience in manufacturing and maintenance, large bearing capacity and good rigidity, synchronous motion among the supporting frameworks is realized in the unfolding and folding processes, and finally the shape change of the whole wing is realized. Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: referring to fig. 2, the scissors linkage frame 1 of the present embodiment further includes N first hinges 4, and the N sets of scissors units are respectively hinged to the support base 17 or the corresponding base through the N first hinges 4. By the arrangement, the coordinated deformation of the scissors linkage framework 1 can be realized. Other compositions and connections are the same as in the first or second embodiments.
The fourth concrete implementation mode: referring to fig. 2, the scissor linkage frame 1 of the present embodiment further includes a plurality of second hinges 5, and each X-shaped scissor assembly in the scissor unit is hinged to the corresponding support frame through the second hinge 5. By the arrangement, the coordinated deformation of the scissors linkage framework 1 can be realized. Other compositions and connection relationships are the same as in the first, second or third embodiment.
The fifth concrete implementation mode: referring to fig. 2, the scissors linkage frame 1 of the present embodiment further includes N third hinges 7, and the N support frames are hinged to the N bases through the N third hinges 7, respectively. By the arrangement, the coordinated deformation of the scissors linkage framework 1 can be realized. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode: referring to fig. 2, the scissors linkage frame 1 of the present embodiment further includes N fourth hinges 12, and the N sets of scissors units are hinged to the first support frame 11 through the N fourth hinges 12, respectively. By the arrangement, the coordinated deformation of the scissors linkage framework 1 can be realized. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: the embodiment is described with reference to fig. 1, 5 and 6, the sliding skin 3 of the embodiment is composed of N skins arranged in layers, the lengths of the N skins sequentially decrease from outside to inside, two adjacent skins are connected in a sliding manner, the N skins include a first skin 25, a second skin 24, a third skin 23, a fourth skin 22, … … and an nth skin, and the first skin 25 to the nth skin are fixedly connected with a first supporting framework 11 to an nth supporting framework corresponding to the first skin 25 to the nth skin respectively. With the arrangement, N pieces of the sliding skin 3 are arranged in a layered manner, the tail length of the outer skin is greater than that of the skin, and the sliding skin 3 is integrally distributed in a feather-like manner on the wings of a bird; a certain gap is reserved between every two layers of skins, so that the skins can slide conveniently, when the scissors linkage framework is folded, the sliding skins 3 are folded together with the scissors linkage framework layer by layer, the storage rate is high, and the size is small. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.
The specific implementation mode is eight: referring to fig. 1, 5 and 6, the present embodiment is described, where N skins are all rigid skins, and a gap between two adjacent skins is 0.5 mm. Each skin is made of lightweight aluminum. So set up, there is 0.5mm clearance between the adjacent covering to guarantee the normal slip between the covering, realize that the successive layer draws in or expands, rigidity covering guarantees that slip covering 3 has better rigidity, and job stabilization is reliable. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.
The specific implementation method nine: the embodiment is described with reference to fig. 1 and 2, and the driving device of the embodiment includes an electric push rod 2 and two motor mounting plates 6, wherein a base of the electric push rod is hinged to a wing body structure through one motor mounting plate 6, and a tail end of the electric push rod is hinged to a third support framework 9 through the other motor mounting plate 6. According to the arrangement, the driving device is the electric push rod, locking can be achieved at any unfolded position, the deformed wing mechanism does not need a locking device after being unfolded, the implementation mode is simple, and the operation is stable and reliable. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment.
The detailed implementation mode is ten: the present embodiment will be described with reference to fig. 1, and the deforming wing mechanism of the present embodiment has a degree of freedom of 1. According to the arrangement, the deformation wing mechanism only needs to use one electric push rod 2 to drive the deformation wing mechanism to complete unfolding and folding motions, the unfolding process is stable, and the control is convenient. Other compositions and connections are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiments.
Principle of operation
The working principle of the invention is explained in conjunction with fig. 1 to 6:
assuming that the wing-deforming mechanism is in a furled state (as shown in fig. 4) in an initial state, at this time, the electric push rod 2 acts, the push rod extends out to drive the third supporting framework 9 to rotate clockwise around the third hinge 7 at the end part, at this time, the distance between the third supporting framework 9 and the supporting seat 17 is increased, so that the fourth shearing and hinging unit 18, the third shearing and hinging unit 19, the second shearing and hinging unit 20 and the first shearing and hinging unit 21 mounted therebetween are passively deformed and integrally extended to respectively drive the fourth supporting framework 8, the second supporting framework 10, the first supporting framework 11 and the third supporting framework 9 to synchronously rotate until reaching a completely extended state (as shown in fig. 3), the extending motions of the four shearing and hinging units are kept synchronous, and the four supporting frameworks are also kept parallel all the time in the extending process. When the deformed wing needs to be retracted, the electric push rod 2 retracts to drive the third supporting framework 9 to rotate anticlockwise around the third hinge 7 at the end part, the process is opposite to the unfolding process, and the third supporting framework is finally retracted to be in a folded state. When the scissor linkage framework deforms, the sliding skin fixed on the supporting framework moves along with the scissor linkage framework, and the integral extension and the folding of the deformation wing mechanism are realized.
Claims (9)
1. A deformable wing mechanism based on a scissor linkage framework and a sliding skin comprises a scissor linkage framework (1), a driving device and a sliding skin (3) installed outside the scissor linkage framework (1), wherein the sliding skin (3) is fixedly installed on the scissor linkage framework (1), the scissor linkage framework (1) drives the sliding skin (3) to fold or unfold layer by layer, and the driving device drives the scissor linkage framework (1) to fold and unfold the whole deformable wing mechanism;
the method is characterized in that: the scissor linkage framework (1) comprises a supporting seat (17), N bases, N supporting frameworks and N groups of scissor units with different lengths, wherein the N bases comprise a first base (13), a second base (14), a third base (15), a fourth base (16), … … and an Nth base, the first base (13) to the Nth base are sequentially and uniformly distributed on the supporting seat (17) from front to back,
the N supporting frameworks comprise a first supporting framework (11), a second supporting framework (10), a third supporting framework (9), a fourth supporting framework (8), … … and an Nth supporting framework, the first supporting framework (11) to the Nth supporting framework are sequentially connected with a first base (13) to an Nth base in a rotating way from outside to inside, the N supporting frameworks are arranged in parallel,
the N groups of shearing and hinging units comprise a first shearing and hinging unit (21), a second shearing and hinging unit (20), a third shearing and hinging unit (19), a fourth shearing and hinging unit (18), … … and an Nth shearing and hinging unit, the N groups of shearing and hinging units are arranged in parallel, the lengths from the first shearing and hinging unit (21) to the Nth shearing and hinging unit are sequentially increased from front to back,
the first shearing and hinging unit (21) comprises two V-shaped shearing and hinging assemblies, and each V-shaped shearing and hinging assembly is formed by hinging two rod pieces together in a V shape; wherein the hinge joint of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework (11), the hinge joint of the other V-shaped shearing and hinging component is hinged with the supporting seat (17) or the second base (14) corresponding to the supporting seat, the end parts of the two V-shaped shearing and hinging components are mutually hinged to form a parallelogram connecting rod structure,
the second shearing and hinging unit (20) comprises two V-shaped shearing and hinging assemblies and an X-shaped shearing and hinging assembly, and the X-shaped shearing and hinging assembly is formed by hinging two rod pieces together in an X shape; wherein the hinge joint of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework (11), the hinge joint of the other V-shaped shearing and hinging component is hinged with the supporting seat (17) or the third base (15) corresponding to the supporting seat, the hinge joint of the X-shaped shearing and hinging component is hinged with the corresponding part of the second supporting framework (10), the end parts of the X-shaped shearing and hinging components are respectively hinged with the end parts of the two V-shaped shearing and hinging components to form a parallelogram connecting rod structure,
the third shearing and hinging unit (19) comprises two V-shaped shearing and hinging components and two X-shaped shearing and hinging components, wherein the hinging part of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework (11), the hinging part of the other V-shaped shearing and hinging component is hinged with the supporting seat (17) or a fourth base (16) corresponding to the supporting seat, the hinging parts of the two X-shaped shearing and hinging components are respectively hinged with the corresponding parts of the second supporting framework (10) and the third supporting framework (9), the two X-shaped shearing and hinging components are hinged to form a parallelogram connecting rod structure, the end parts of the two X-shaped shearing and hinging components are respectively hinged with the end parts of the two V-shaped shearing and hinging components to form a parallelogram connecting rod structure,
the fourth shearing and hinging unit (18) comprises two V-shaped shearing and hinging components and three X-shaped shearing and hinging components, wherein the hinging part of one V-shaped shearing and hinging component is hinged with the corresponding part of the first supporting framework (11), the hinging part of the other V-shaped shearing and hinging component is hinged with the supporting seat (17) or a fifth base corresponding to the supporting seat, the hinging parts of the three X-shaped shearing and hinging components are respectively hinged with the corresponding parts of the second supporting framework (10), the third supporting framework (9) and the fourth supporting framework (8), the three X-shaped shearing and hinging components are sequentially hinged to form a parallelogram connecting rod structure, the end parts of the two X-shaped shearing and hinging components at the end parts are respectively hinged with the end parts of the two V-shaped shearing and hinging components to form a parallelogram connecting rod structure,
by analogy, the Nth shearing and hinging unit comprises two V-shaped shearing and hinging assemblies and N-1X-shaped shearing and hinging assemblies, wherein the hinged part of one V-shaped shearing and hinging assembly is hinged with the corresponding part of the first supporting framework (11), the hinged part of the other V-shaped shearing and hinging assembly is hinged with the end part of the supporting seat (17), the hinged parts of the N-1X-shaped shearing and hinging assemblies are respectively hinged with the second supporting framework (10), the third supporting framework (9), the fourth supporting framework (8), … … and the Nth supporting framework, the N-1X-shaped shearing and hinging assemblies are sequentially hinged to form a parallelogram connecting rod structure, the end parts of the two X-shaped shearing and hinging assemblies at the end parts are respectively hinged with the end parts of the two V-shaped shearing and hinging assemblies to form a parallelogram connecting rod structure, and the N groups of shearing and hinging units with different lengths are used for realizing synchronous motion between the N groups of supporting frameworks.
2. The wing-deforming mechanism based on the scissor linkage framework and the sliding skin as claimed in claim 1, wherein: the scissor linkage framework (1) further comprises N first hinges (4), and the N groups of scissor units are hinged with the supporting seat (17) or the base corresponding to the supporting seat through the N first hinges (4) respectively.
3. The wing-deforming mechanism based on the scissor linkage framework and the sliding skin as claimed in claim 2, wherein: the scissor linkage framework (1) further comprises a plurality of second hinges (5), and each X-shaped scissor assembly in the scissor unit is hinged to the corresponding supporting framework through the second hinges (5).
4. The wing-deforming mechanism based on the scissor linkage framework and the sliding skin as claimed in claim 3, wherein: the scissor linkage framework (1) further comprises N third hinges (7), and the N support frameworks are hinged to the N bases through the N third hinges (7) respectively.
5. The morphing wing mechanism based on scissors linkage skeleton and slip skin of claim 1, 2, 3 or 4, characterized in that: the scissor linkage framework (1) further comprises N fourth hinges (12), and the N groups of scissor units are hinged to the first supporting framework (11) through the N fourth hinges (12) respectively.
6. The wing-deforming mechanism based on the scissor linkage framework and the sliding skin as claimed in claim 1, wherein: the sliding skin (3) is composed of N skins which are arranged in a layered mode, the length of the N skins is gradually reduced from outside to inside in sequence, the two adjacent skins are connected in a sliding mode, the N skins comprise a first skin (25), a second skin (24), a third skin (23), a fourth skin (22), … … and an Nth skin, and the first skin (25) to the Nth skin are fixedly connected with a first supporting framework (11) to the Nth supporting framework which correspond to the first skin (25) and the Nth skin respectively.
7. The wing-deforming mechanism based on the scissor linkage framework and the sliding skin as claimed in claim 6, wherein: the N skin pieces are all rigid skin pieces, and the gap between every two adjacent skin pieces is 0.5 mm.
8. The wing-deforming mechanism based on the scissor linkage framework and the sliding skin as claimed in claim 1, wherein: the driving device comprises an electric push rod (2) and two motor mounting plates (6), the electric push rod base is hinged with the wing body structure through one motor mounting plate (6), and the tail end of the electric push rod is hinged with a third supporting framework (9) through the other motor mounting plate (6).
9. The morphing wing mechanism based on scissors linkage skeleton and slip skin of claim 1, 2, 3, 4, 6, 7 or 8, characterized in that: the degree of freedom of the deformation wing mechanism is 1.
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| CN109367775B (en) * | 2018-12-07 | 2024-01-30 | 吉林大学 | Folding fan type folding wing mechanism for foldable flapping wing micro air vehicle |
| CN110341935B (en) * | 2019-07-26 | 2022-07-15 | 哈尔滨工业大学 | Expansion-direction telescopic type morphing wing |
| CN110626489A (en) * | 2019-10-31 | 2019-12-31 | 及兰平 | Folding wing with straight folding extension wing |
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| CN110803276B (en) * | 2019-12-05 | 2023-01-03 | 江西洪都航空工业集团有限责任公司 | Flexibly deformable wing mechanism and assembly method |
| CN111688913B (en) * | 2020-05-26 | 2023-02-17 | 哈尔滨工业大学 | Dual-drive wing with variable span length and up-down dihedral angle |
| CN112061374A (en) * | 2020-08-24 | 2020-12-11 | 上海大学 | Variable sweepback wing with fixed wing spars |
| CN111959746B (en) * | 2020-08-31 | 2022-10-11 | 哈尔滨工业大学 | Parallel connecting rod type deformation wing framework |
| CN113148103B (en) * | 2021-03-25 | 2022-10-25 | 西北工业大学 | Miniature unmanned vehicles skeleton that can dismantle equipment fast |
| CN113682460B (en) * | 2021-09-09 | 2023-06-23 | 北京航空航天大学 | Deformation missile wing and flight device |
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