CN110155308B - Single-degree-of-freedom multi-joint folding wing transmission device, wing and aircraft - Google Patents
Single-degree-of-freedom multi-joint folding wing transmission device, wing and aircraft Download PDFInfo
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- CN110155308B CN110155308B CN201910206363.3A CN201910206363A CN110155308B CN 110155308 B CN110155308 B CN 110155308B CN 201910206363 A CN201910206363 A CN 201910206363A CN 110155308 B CN110155308 B CN 110155308B
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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
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
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Abstract
The invention provides a single-degree-of-freedom multi-joint folding wing transmission device, a wing and an aircraft, wherein the device comprises a head end joint connecting rod, a driving unit, a middle joint connecting rod group, a head end rotating bevel gear assembly, a head end driving bevel gear assembly, a tail end joint connecting rod and a tail end rotating bevel gear assembly, the middle rotating bevel gear assembly is used for realizing the relative rotation between any two adjacent middle joint connecting rods in a first direction and driving the middle driving bevel gear to move, the middle driving bevel gear assembly is used for realizing the power transmission of the driving unit, the head end driving bevel gear assembly is used for transmitting the power of the driving unit to the first middle rotating bevel gear assembly, and the tail end joint connecting rod is rotatably connected with an Nth middle joint connecting rod in the first direction through the tail end rotating bevel. By applying the technical scheme of the invention, the technical problems of large occupied space and poor carrying capacity caused by the fact that the wing is not foldable in the prior art are solved.
Description
Technical Field
The invention relates to the technical field of folding wings of aircrafts, in particular to a single-degree-of-freedom multi-joint folding wing transmission device, a wing and an aircraft.
Background
At present, with the rapid development of modern weapons, the space requirement on the aircraft wing is higher and higher, and the folding wing becomes a hot spot of wing development. However, for conventional aircraft, the aircraft wings are generally not foldable, and therefore occupy a large space, reducing the carrying capacity of the transport equipment.
Disclosure of Invention
The invention provides a single-degree-of-freedom multi-joint folding wing transmission device, a wing and an aircraft, and can solve the technical problems of large occupied space and poor carrying capacity caused by the fact that the wing is not foldable in the prior art.
According to an aspect of the present invention, there is provided a single degree of freedom multi-joint folding wing transmission device, including: a head end joint connecting rod; the driving unit is arranged on the head end joint connecting rod; the middle joint connecting rod set comprises N middle joint connecting rods, N-1 middle rotating bevel gear assemblies and N-1 middle transmission bevel gear assemblies, wherein one middle rotating bevel gear assembly and one middle transmission bevel gear assembly are arranged between any two adjacent middle joint connecting rods in the middle joint connecting rods, the middle rotating bevel gear assemblies are used for realizing the relative rotation between any two adjacent middle joint connecting rods in the first direction and driving the middle transmission bevel gears to move, the middle transmission bevel gear assemblies are used for realizing the power transmission of the driving unit, and N is more than or equal to 2; the head end rotating bevel gear assembly and the head end driving bevel gear assembly are both arranged between the head end joint connecting rod and a first middle joint connecting rod in the middle joint connecting rod group, the head end rotating bevel gear assembly is in driving connection with the driving unit, the first middle joint connecting rod is in rotatable connection with the head end joint connecting rod around a first direction through the head end rotating bevel gear assembly, the head end rotating bevel gear assembly is in driving connection with the head end driving bevel gear assembly, and the head end driving bevel gear assembly is used for transmitting the power of the driving unit to the first middle rotating bevel gear assembly; the tail end joint connecting rod is connected with the other end of the middle joint connecting rod group; and the tail end rotating bevel gear assembly is arranged between the tail end joint connecting rod and an Nth middle joint connecting rod in the middle joint connecting rod group, and the tail end joint connecting rod is rotatably connected with the Nth middle joint connecting rod in the first direction through the tail end rotating bevel gear assembly.
Furthermore, the middle joint connecting rod group comprises a first middle joint connecting rod, a second middle joint connecting rod, a middle rotating bevel gear assembly and a middle driving bevel gear assembly, the head end driving bevel gear assembly is connected with the middle rotating bevel gear assembly, the middle rotating bevel gear assembly is in driving connection with the middle driving bevel gear assembly, and the middle driving bevel gear assembly is connected with the tail end rotating bevel gear assembly.
Furthermore, the single-degree-of-freedom multi-joint folding wing transmission device further comprises a first connecting shaft and a second connecting shaft, the head-end transmission bevel gear component is connected with the middle rotation bevel gear component through the first connecting shaft, and the middle transmission bevel gear component is connected with the tail-end rotation bevel gear component through the second connecting shaft.
Furthermore, the single-degree-of-freedom multi-joint folding wing transmission device further comprises a first joint rotating shaft, a second joint rotating shaft and a third joint rotating shaft, the first middle joint connecting rod is rotatably connected with the head end joint connecting rod through the first joint rotating shaft, the second middle joint connecting rod is rotatably connected with the first middle joint connecting rod through the second joint rotating shaft, and the tail end joint connecting rod is rotatably connected with the second middle joint connecting rod through the third joint rotating shaft.
Furthermore, the head end rotating bevel gear assembly comprises a first bevel gear and a second bevel gear, the first bevel gear is connected with the driving unit, the second bevel gear is fixedly arranged on the first middle joint connecting rod and is positioned at one end of the first joint rotating shaft, the first bevel gear rotates around the second direction, the first bevel gear is meshed with the second bevel gear, the second bevel gear rotates around the first direction, and the first direction is vertical to the second direction; the head end transmission bevel gear assembly comprises a third bevel gear and a fourth bevel gear, the third bevel gear is arranged at the other end of the first joint rotating shaft, the fourth bevel gear is arranged at one end of the first connecting shaft, the third bevel gear rotates around the first direction, the third bevel gear and the fourth bevel gear are in meshed connection, and the fourth bevel gear rotates around the second direction.
Furthermore, the middle rotating bevel gear assembly comprises a fifth bevel gear and a sixth bevel gear, the fifth bevel gear is arranged at the other end of the first connecting shaft and rotates around the second direction, the fifth bevel gear is meshed and connected with the sixth bevel gear, the sixth bevel gear rotates around the first direction, and the sixth bevel gear is fixedly arranged on the second middle joint connecting rod and is coaxial with the second joint rotating shaft; the intermediate transmission bevel gear comprises a seventh bevel gear and an eighth bevel gear, the seventh bevel gear is coaxial with a second joint rotating shaft, the seventh bevel gear rotates around the first direction, the eighth bevel gear is arranged at one end of the second connecting shaft, the seventh bevel gear is in meshed connection with the eighth bevel gear, and the eighth bevel gear rotates around the second direction.
Furthermore, the terminal rotation bevel gear assembly comprises a ninth bevel gear and a tenth bevel gear, the ninth bevel gear is arranged at the other end of the second connecting shaft and rotates around the second direction, the tenth bevel gear is fixedly arranged on the terminal joint connecting rod and is coaxial with the third joint rotating shaft, the tenth bevel gear is meshed with the ninth bevel gear, and the tenth bevel gear rotates around the first direction.
Further, the drive unit comprises a steering engine.
According to another aspect of the present invention there is provided a wing comprising a single degree of freedom multi-articulated folding wing actuator as described above.
According to a further aspect of the invention, there is provided an aircraft comprising a wing as described above.
By applying the technical scheme of the invention, the transmission device for the single-degree-of-freedom multi-joint folding wing is provided, the transmission device adopts a form that a plurality of joint connecting rods are connected in series, the folding form of the wing is more compact, the space occupied by the wing of an aircraft is reduced, and the carrying capacity of transportation equipment is improved; the whole transmission device has a degree of freedom, and the problems of complex installation and difficult guarantee of the shape of the wing profile caused by independently installing a driving source on each joint connecting rod are solved; in addition, the invention can realize different folding effects of the wing by changing the transmission ratio of the bevel gear component and the length of the joint connecting rod.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 illustrates a schematic structural diagram of a single degree of freedom multi-joint folding wing actuator provided in accordance with an embodiment of the present invention;
FIG. 2 illustrates an exploded view of a single degree of freedom multi-articulated folding wing actuator configuration provided in accordance with an embodiment of the present invention;
FIG. 3 illustrates a schematic structural diagram of a single degree of freedom multi-articulated folding wing actuator provided in accordance with an embodiment of the present invention in a folded state;
fig. 4 is a schematic structural diagram illustrating a single-degree-of-freedom multi-joint folding wing transmission device in a unfolding state according to an embodiment of the invention.
Wherein the figures include the following reference numerals:
10. a head end joint connecting rod; 20. a drive unit; 30. a middle joint linkage; 31. a first intermediate joint link; 32. a second intermediate joint link; 33. a middle rotating bevel gear assembly; 331. a fifth bevel gear; 332. a sixth bevel gear; 34. an intermediate drive bevel gear assembly; 341. a seventh bevel gear; 342. an eighth bevel gear; 40. the head end rotates the bevel gear assembly; 41. a first bevel gear; 42. a second bevel gear; 50. the head end drives a bevel gear component; 51. a third bevel gear; 52. a fourth bevel gear; 60. a tail end joint connecting rod; 70. a tip rotation bevel gear assembly; 71. a ninth bevel gear; 72. a tenth bevel gear; 80. a first connecting shaft; 90. a second connecting shaft; 100. a first joint rotation shaft; 110. a second joint rotation shaft; 120. a third joint rotation shaft; 130. a support; 140. a connecting disc; 150. a clamp spring; 160. and (4) screws.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. 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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1 to 4, according to an embodiment of the present invention, a single-degree-of-freedom multi-joint folding wing transmission device is provided, which includes a head-end joint connecting rod 10, a driving unit 20, an intermediate joint connecting rod group 30, a head-end rotating bevel gear assembly 40, a head-end transmission bevel gear assembly 50, a tail-end joint connecting rod 60, and a tail-end rotating bevel gear assembly 70, wherein the driving unit 20 is disposed on the head-end joint connecting rod 10, the intermediate joint connecting rod group 30 includes N intermediate joint connecting rods, N-1 intermediate rotating bevel gear assemblies, and N-1 intermediate transmission bevel gear assemblies, one intermediate rotating bevel gear assembly and one intermediate transmission bevel gear assembly are disposed between any two adjacent intermediate joint connecting rods of the intermediate joint connecting rods, and the intermediate rotating bevel gear assemblies are used for realizing relative rotation between any two adjacent intermediate joint connecting rods in a first direction and driving the intermediate transmission bevel gear assemblies And a motion, wherein N is greater than or equal to 2, the head-end rotation bevel gear assembly 40 and the head-end transmission bevel gear assembly 50 are both disposed between the head-end joint connecting rod 10 and a first intermediate joint connecting rod 31 in the intermediate joint connecting rod group 30, the head-end rotation bevel gear assembly 40 is in driving connection with the drive unit 20, the first intermediate joint connecting rod 31 is in rotatable connection with the head-end joint connecting rod 10 around a first direction through the head-end rotation bevel gear assembly 40, the head-end rotation bevel gear assembly 40 is in driving connection with the head-end transmission bevel gear assembly 50, the head-end transmission bevel gear assembly 50 is used for transmitting the power of the drive unit 20 to the first intermediate rotation bevel gear assembly, the tail-end joint connecting rod 60 is connected with the other end of the intermediate joint connecting rod group 30, the tail-end rotation bevel gear assembly 70 is disposed between the tail-end joint connecting rod 60 and an nth intermediate joint connecting rod in, the distal joint link 60 is rotatably connected to the nth intermediate joint link about the first direction by a distal rotation bevel gear assembly 70.
By applying the configuration mode, the transmission device with the single degree of freedom and the multiple joints is provided, the transmission device realizes the rotation of the first middle joint connecting rod relative to the head end joint connecting rod around the first direction and transmits the power of the driving unit to the middle joint connecting rod group by arranging the driving unit on the head end joint connecting rod under the action of the head end rotating bevel gear assembly and the head end driving bevel gear assembly; the driving torque of the driving unit is sequentially transmitted to the second middle joint connecting rod, the third middle joint connecting rod and the Nth middle joint connecting rod under the action of the plurality of middle rotating bevel gear assemblies and the plurality of middle transmission bevel gear assemblies, so that the rotation of any adjacent middle joint connecting rods around the first direction is realized; the rotation of the tail end joint connecting rod relative to the Nth middle joint connecting rod around the first direction is realized through the action of the tail end rotating bevel gear assembly. Compared with the prior art, the mode adopts a mode that a plurality of joint connecting rods are connected in series, so that the folding mode of the wings is more compact, the space occupied by the wings of the aircraft is reduced, and the carrying capacity of the transportation equipment is improved; the whole transmission device has a degree of freedom, and the problems of complex installation and difficult guarantee of the shape of the wing profile caused by independently installing a driving source on each joint connecting rod are solved; in addition, the invention can realize different folding effects of the wing by changing the transmission ratio of the bevel gear component and the length of the joint connecting rod.
Further, as an embodiment of the present invention, as shown in fig. 1 and 2, the middle joint linkage 30 includes a first middle joint link 31, a second middle joint link 32, a middle rotating bevel gear assembly 33, and a middle driving bevel gear assembly 34, the head end driving bevel gear assembly 50 is connected to the middle rotating bevel gear assembly 33, the middle rotating bevel gear assembly 33 is drivingly connected to the middle driving bevel gear assembly 34, and the middle driving bevel gear assembly 34 is connected to the end driving bevel gear assembly 70. In the present embodiment, the middle joint linkage 30 includes two middle joint links, a middle rotation bevel gear assembly and a middle transmission bevel gear assembly, and as other embodiments of the present invention, the middle joint linkage 30 may also include three, four or more middle joint links, which are not limited herein and may be set according to specific situations.
In addition, in the present invention, in order to achieve efficient transmission of power, the single-degree-of-freedom multi-joint folding wing transmission may be configured to further include a first connecting shaft 80 and a second connecting shaft 90, the head-end transmission bevel gear assembly 50 is connected to the intermediate rotation bevel gear assembly 33 through the first connecting shaft 80, and the intermediate transmission bevel gear assembly 34 is connected to the end rotation bevel gear assembly 70 through the second connecting shaft 90.
By applying the configuration mode, when the transmission device works, the driving unit drives the head end rotating bevel gear assembly to move, the head end rotating bevel gear assembly drives the head end driving bevel gear assembly to move, the head end driving bevel gear assembly moves to be connected with the middle rotating bevel gear assembly 33 through the first connecting shaft 80, and then the middle rotating bevel gear assembly 33 can be driven to move, the middle rotating bevel gear assembly 33 moves to drive the middle driving bevel gear assembly 34 to move, the middle driving bevel gear assembly 34 is connected with the tail end rotating bevel gear assembly 70 through the second connecting shaft 90 to drive the tail end rotating bevel gear assembly 70 to move, and therefore the folding and the unfolding of the wings are achieved.
Further, in the present invention, in order to achieve mutual rotation between the adjacent joint links in the first direction, the single-degree-of-freedom multi-joint folding wing transmission device may be configured to further include a first joint rotation shaft 100, a second joint rotation shaft 110, and a third joint rotation shaft 120, the first intermediate joint link 31 may be rotatably connected to the head-end joint link 10 through the first joint rotation shaft 100, the second intermediate joint link 32 may be rotatably connected to the first intermediate joint link 31 through the second joint rotation shaft 110, and the tail-end joint link 60 may be rotatably connected to the second intermediate joint link 32 through the third joint rotation shaft 120.
As a specific embodiment of the present invention, as shown in fig. 2, two ends of the head end joint connecting rod 10 are respectively provided with a rotation hole, two ends of the first intermediate joint connecting rod are also provided with rotation holes, and the first joint rotation shaft 100 respectively passes through the rotation holes of the head end joint connecting rod 10 and the first intermediate joint connecting rod and is clamped by the clamp spring 150 to prevent the first joint rotation shaft 100 from coming out of the rotation holes, so that the first intermediate joint connecting rod can rotate around the first direction relative to the head end joint connecting rod under the action of the head end rotation bevel gear assembly. Similarly, the second intermediate joint link 32 is rotatably connected to the first intermediate joint link 31 via the second joint rotation shaft 110 to enable rotation of the second intermediate joint link relative to the first intermediate joint link about the first direction, and the end joint link 60 is rotatably connected to the second intermediate joint link 32 via the third joint rotation shaft 120 to enable rotation of the end joint link relative to the second intermediate joint link about the first direction.
Further, in the present invention, in order to achieve the rotation of the first intermediate joint link relative to the head end joint link in the first direction and complete smooth transmission of power, the head end rotation bevel gear assembly 40 may be configured to include a first bevel gear 41 and a second bevel gear 42, the first bevel gear 41 is connected to the driving unit 20, the second bevel gear 42 is fixedly disposed on the first intermediate joint link 31 and located at one end of the first joint rotation shaft 100, the first bevel gear 41 rotates in the second direction, the first bevel gear 41 and the second bevel gear 42 are in meshed connection, the second bevel gear 42 rotates in the first direction, and the first direction is perpendicular to the second direction; the head end drive bevel gear assembly 50 includes a third bevel gear 51 and a fourth bevel gear 52, the third bevel gear 51 is disposed at the other end of the first joint rotating shaft 100, the fourth bevel gear 52 is disposed at one end of the first connecting shaft 80, the third bevel gear 51 rotates around the first direction, the third bevel gear 51 and the fourth bevel gear 52 are in meshed connection, and the fourth bevel gear 52 rotates around the second direction.
As a specific embodiment of the present invention, as shown in fig. 2, a steering engine is used as the driving unit 20, a head end joint connecting rod is used as a substrate, the steering engine is mounted on the head end joint connecting rod through four bolts, a first bevel gear 41 is mounted on an output shaft of the steering engine through a connecting plate 140, the head end joint connecting rod and a first middle joint connecting rod 31 form a rotating pair through a first joint rotating shaft 100, a second bevel gear 42 is fixedly arranged on the first middle joint connecting rod 31 through a support 130, the second bevel gear 42 is concentric with the first joint rotating shaft 100, and the first bevel gear 41 and the second bevel gear 42 form a gear transmission mechanism. The given driving steering engine rotates at a certain angular speed, and the first intermediate joint connecting rod 31 is driven to rotate around the head end joint connecting rod at a certain angular speed through the transmission of the first bevel gear 41 and the second bevel gear 42. The third bevel gear 51 is mounted on the head end joint connecting rod through a support 130 and a screw 160, the third bevel gear 51 is concentric with the first joint rotating shaft 100, the rotation of the second bevel gear 42 drives the first joint rotating shaft 100 to rotate, and the first joint rotating shaft 100 rotates to drive the third bevel gear 51 to rotate. The third bevel gear 51 is meshed with the fourth bevel gear 52, the fourth bevel gear 52 is arranged at one end of the first connecting shaft 80, and the third bevel gear 51 drives the fourth bevel gear 52 to move and transmit power to the middle joint linkage 30 through the first connecting shaft 80.
Further, in the present invention, in order to achieve the rotation of the second intermediate joint link relative to the first intermediate joint link in the first direction and to accomplish smooth transmission of power, the intermediate rotation bevel gear assembly 33 may be configured to include a fifth bevel gear 331 and a sixth bevel gear 332, the fifth bevel gear 331 is disposed at the other end of the first connecting shaft 80, the fifth bevel gear 331 rotates in the second direction, the fifth bevel gear 331 and the sixth bevel gear 332 are in meshed connection, the sixth bevel gear 332 rotates in the first direction, and the sixth bevel gear 332 is fixedly disposed on the second intermediate joint link and is coaxial with the second joint rotation shaft 110; the intermediate transmission bevel gear 34 includes a seventh bevel gear 341 and an eighth bevel gear 342, the seventh bevel gear 341 is coaxial with the second joint rotating shaft 110, the seventh bevel gear 341 rotates about the first direction, the eighth bevel gear 342 is provided at one end of the second connecting shaft 90, the seventh bevel gear 341 and the eighth bevel gear 342 are in meshed connection, and the eighth bevel gear 342 rotates about the second direction.
As one embodiment of the present invention, as shown in fig. 2, a first connecting shaft 80 is installed on and forms a rotation pair with a first intermediate joint link, a fourth bevel gear 52 is provided at one end of the first connecting shaft 80, a fifth bevel gear 331 is provided at the other end of the first connecting shaft 80, a second intermediate joint link and the first intermediate joint link form a rotation pair through a second joint rotation shaft 110, and a sixth bevel gear 332 is fixed to the second intermediate joint link through a support 130. The third bevel gear 51 is concentric with the first joint rotation axis 100 and is in a geared relationship with the fourth bevel gear 52. The sixth bevel gear 332 is concentric with the second articulation rotation axis 110 and is in a geared relationship with the fifth bevel gear 331. While the first intermediate joint link rotates around the first direction relative to the head end joint link, because the third bevel gear 51 is fixed relative to the head end joint link, the first connecting shaft 80 has a certain angular velocity relative to the first intermediate joint link under the transmission of the third bevel gear 51 and the fourth bevel gear 52, and the second intermediate joint link is driven to rotate around the second joint rotating shaft 110 at a certain angular velocity relative to the first intermediate joint link through the transmission of the fifth bevel gear 331 and the sixth bevel gear 332.
Further, in the present invention, in order to realize the rotation of the end joint link about the first direction with respect to the second intermediate joint link, the end rotation bevel gear assembly 70 may be configured to include a ninth bevel gear 71 and a tenth bevel gear 72, the ninth bevel gear 71 being provided at the other end of the second connecting shaft 90, the ninth bevel gear 71 being rotated about the second direction, the tenth bevel gear 72 being fixedly provided on the end joint link 60 and being coaxial with the third joint rotation shaft 120, the tenth bevel gear 72 being in meshed connection with the ninth bevel gear 71, the tenth bevel gear 72 being rotated about the first direction.
As a specific embodiment of the invention, the rotation of the tail end joint connecting rod relative to the second middle joint connecting rod and the rotation of the second middle joint connecting rod relative to the first middle joint connecting rod have similar installation and transmission effects, the relative position of the bevel gear is determined, the rotation relation of the connecting rod n and the connecting rod n-1 can be derived, and the folding of the multi-joint wing is realized under the condition of one degree of freedom. Specifically, as shown in fig. 2, the second connecting shaft 90 is mounted on and forms a revolute pair with the second intermediate joint link, an eighth bevel gear 342 is provided at one end of the second connecting shaft 90, a ninth bevel gear 71 is provided at the other end of the second connecting shaft 90, the end joint link and the second intermediate joint link form a revolute pair through the third joint rotational shaft 120, and a tenth bevel gear 72 is fixed to the end joint link through the support 130 and the screw 160. The seventh bevel gear 341 is concentric with the second joint rotation shaft 110 and is in a geared relationship with the eighth bevel gear 342. Tenth bevel gear 72 is concentric with third joint rotational axis 120 and is in a geared relationship with ninth bevel gear 71. While the second intermediate joint link rotates around the first direction relative to the first intermediate joint link, because the seventh bevel gear 341 is fixed relative to the first intermediate joint link, the second connecting shaft 90 has a certain angular velocity relative to the second intermediate joint link under the transmission of the seventh bevel gear 341 and the eighth bevel gear 342, and the transmission of the ninth bevel gear 71 and the tenth bevel gear 72 drives the end joint link to rotate around the third joint rotation shaft 120 at a certain angular velocity relative to the second intermediate joint link.
According to another aspect of the present invention there is provided a wing comprising a single degree of freedom multi-articulated folding wing actuator as described above. The single-degree-of-freedom multi-joint folding wing transmission device adopts a mode of connecting a plurality of joint connecting rods in series, adopts the transmission of the bevel gear set, and can realize multi-section folding of wings through modularization of the bevel gear set. Different folding effects of the wing can be realized by changing the transmission ratio of the bevel gear set and the length of the connecting rod. Therefore, the single-degree-of-freedom multi-joint folding wing transmission device is applied to the wings, so that the space occupied by the wings can be greatly reduced, and the space utilization rate of wing carrying equipment is improved.
According to a further aspect of the invention, there is provided an aircraft comprising a wing as described above. Because the wing of the invention occupies small space and has high space utilization rate, the wing of the invention can be applied to an aircraft, and the working performance of the aircraft can be greatly improved.
In conclusion, the single-degree-of-freedom multi-joint folding wing transmission device provided by the invention can fold the originally unfolded wing to a certain degree through the transmission devices such as the bevel gears and the connecting rods, so that the space occupied by the wing can be effectively reduced, the space utilization rate of wing carrying equipment is improved, and the wing carrying equipment is convenient to store and transport. Compared with the prior art, the folding wing transmission device provided by the invention has the following advantages.
First, the single-degree-of-freedom multi-joint folding wing transmission device provided by the invention adopts a multi-joint series connection mode, and the wing folding mode is more compact.
Secondly, the single-degree-of-freedom multi-joint folding wing transmission device provided by the invention is arranged at the root of the wing in a single driving source mode, and the whole transmission device has one degree of freedom, so that the problems of complex installation, difficult guarantee of wing shape and the like caused by independently installing a driving source at each joint are solved.
Thirdly, the single-degree-of-freedom multi-joint folding wing transmission device provided by the invention adopts bevel gear group transmission, and multi-section folding of wings can be realized through modularization of the bevel gear group.
Fourthly, the single-degree-of-freedom multi-joint folding wing transmission device provided by the invention can realize different folding effects of wings by changing the transmission ratio of the bevel gear set and the length of the connecting rod.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The single-degree-of-freedom multi-joint folding wing transmission device is characterized by comprising:
a head end joint connecting rod (10);
a drive unit (20), wherein the drive unit (20) is arranged on the head end joint connecting rod (10);
the middle joint connecting rod group (30), the middle joint connecting rod group (30) comprises N middle joint connecting rods, N-1 middle rotating bevel gear assemblies and N-1 middle transmission bevel gear assemblies, one middle rotating bevel gear assembly and one middle transmission bevel gear assembly are arranged between any two adjacent middle joint connecting rods in the middle joint connecting rods, the middle rotating bevel gear assemblies are used for realizing the relative rotation between any two adjacent middle joint connecting rods in the first direction and driving the middle transmission bevel gears to move, the middle transmission bevel gear assemblies are used for realizing the power transmission of the driving unit (20), and N is more than or equal to 2;
the head end rotating bevel gear assembly (40) and the head end driving bevel gear assembly (50) are arranged between the head end joint connecting rod (10) and a first middle joint connecting rod in the middle joint connecting rod group (30), the head end rotating bevel gear assembly (40) is in driving connection with the driving unit (20), the first middle joint connecting rod is in rotatable connection with the head end joint connecting rod (10) in a first direction through the head end rotating bevel gear assembly (40), the head end rotating bevel gear assembly (40) is in driving connection with the head end driving bevel gear assembly (50), and the head end driving bevel gear assembly (50) is used for transmitting the power of the driving unit (20) to the first middle rotating bevel gear assembly;
the tail end joint connecting rod (60) is connected with the other end of the middle joint connecting rod group (30);
the tail end rotating bevel gear assembly (70), the tail end rotating bevel gear assembly (70) is arranged between the tail end joint connecting rod (60) and an Nth middle joint connecting rod in the middle joint connecting rod group (30), and the tail end joint connecting rod (60) is rotatably connected with the Nth middle joint connecting rod in the first direction through the tail end rotating bevel gear assembly (70).
2. The single degree of freedom multi-joint folding wing transmission according to claim 1, characterized in that the middle joint linkage (30) comprises a first middle joint link (31), a second middle joint link (32), a middle rotating bevel gear assembly (33) and a middle driving bevel gear assembly (34), the head end driving bevel gear assembly (50) is connected with the middle rotating bevel gear assembly (33), the middle rotating bevel gear assembly (33) is in driving connection with the middle driving bevel gear assembly (34), and the middle driving bevel gear assembly (34) is connected with the end rotating bevel gear assembly (70).
3. The single degree of freedom multi-joint folding wing transmission according to claim 2, further comprising a first connecting shaft (80) and a second connecting shaft (90), wherein the head end transmission bevel gear assembly (50) is connected with the intermediate rotation bevel gear assembly (33) through the first connecting shaft (80), and the intermediate transmission bevel gear assembly (34) is connected with the end rotation bevel gear assembly (70) through the second connecting shaft (90).
4. The single degree of freedom multi-joint folding wing transmission according to claim 2, further comprising a first joint rotation axis (100), a second joint rotation axis (110) and a third joint rotation axis (120), wherein the first intermediate joint link (31) is rotatably connected with the head-end joint link (10) through the first joint rotation axis (100), the second intermediate joint link (32) is rotatably connected with the first intermediate joint link (31) through the second joint rotation axis (110), and the tail-end joint link (60) is rotatably connected with the second intermediate joint link (32) through the third joint rotation axis (120).
5. The single degree-of-freedom multi-joint folding wing transmission according to claim 4, wherein the head-end rotation bevel gear assembly (40) comprises a first bevel gear (41) and a second bevel gear (42), the first bevel gear (41) is connected with the driving unit (20), the second bevel gear (42) is fixedly arranged on the first middle joint connecting rod (31) and is located at one end of the first joint rotation shaft (100), the first bevel gear (41) rotates around a second direction, the first bevel gear (41) and the second bevel gear (42) are in meshed connection, the second bevel gear (42) rotates around the first direction, and the first direction and the second direction are perpendicular; the head end transmission bevel gear assembly (50) comprises a third bevel gear (51) and a fourth bevel gear (52), the third bevel gear (51) is arranged at the other end of the first joint rotating shaft (100), the fourth bevel gear (52) is arranged at one end of the first connecting shaft (80), the third bevel gear (51) rotates around the first direction, the third bevel gear (51) and the fourth bevel gear (52) are in meshed connection, and the fourth bevel gear (52) rotates around the second direction.
6. The single degree of freedom multi-joint folding wing transmission according to claim 5, wherein the intermediate rotation bevel gear assembly (33) comprises a fifth bevel gear (331) and a sixth bevel gear (332), the fifth bevel gear (331) is disposed at the other end of the first connecting shaft (80), the fifth bevel gear (331) rotates around the second direction, the fifth bevel gear (331) and the sixth bevel gear (332) are in meshed connection, the sixth bevel gear (332) rotates around the first direction, the sixth bevel gear (332) is fixedly disposed on a second intermediate joint link (32) and is coaxial with the second joint rotation shaft (110); the intermediate transmission bevel gear (34) comprises a seventh bevel gear (341) and an eighth bevel gear (342), the seventh bevel gear (341) is coaxial with the second joint rotating shaft (110), the seventh bevel gear (341) rotates around the first direction, the eighth bevel gear (342) is arranged at one end of the second connecting shaft (90), the seventh bevel gear (341) is in meshed connection with the eighth bevel gear (342), and the eighth bevel gear (342) rotates around the second direction.
7. The single degree of freedom multi-joint folding wing transmission according to claim 6, wherein the end rotation bevel gear assembly (70) comprises a ninth bevel gear (71) and a tenth bevel gear (72), the ninth bevel gear (71) is disposed at the other end of the second connecting shaft (90), the ninth bevel gear (71) rotates around the second direction, the tenth bevel gear (72) is fixedly disposed on the end joint connecting rod (60) and coaxial with the third joint rotation shaft (120), the tenth bevel gear (72) is in meshed connection with the ninth bevel gear (71), and the tenth bevel gear (72) rotates around the first direction.
8. The single degree of freedom multi-jointed folding wing transmission according to any one of claims 1-7, wherein said drive unit (20) comprises a steering engine.
9. An airfoil comprising the single degree of freedom multi-articulated folding wing transmission of any one of claims 1 to 8.
10. An aircraft, characterized in that the aircraft comprises a wing as claimed in claim 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910206363.3A CN110155308B (en) | 2019-03-19 | 2019-03-19 | Single-degree-of-freedom multi-joint folding wing transmission device, wing and aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910206363.3A CN110155308B (en) | 2019-03-19 | 2019-03-19 | Single-degree-of-freedom multi-joint folding wing transmission device, wing and aircraft |
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| CN110155308A CN110155308A (en) | 2019-08-23 |
| CN110155308B true CN110155308B (en) | 2020-11-13 |
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| CN201910206363.3A Active CN110155308B (en) | 2019-03-19 | 2019-03-19 | Single-degree-of-freedom multi-joint folding wing transmission device, wing and aircraft |
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| CN114833299A (en) * | 2022-04-12 | 2022-08-02 | 北京机电工程研究所 | Riveting device suitable for large-scale product |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2727101A1 (en) * | 1976-06-18 | 1977-12-29 | Aerospatiale | SYNCHRONIZATION DEVICE FOR FOLDING SUPPORT LINKS |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB404963A (en) * | 1932-07-20 | 1934-01-22 | Martin James | Improvements in and connected with the construction and arrangement of aeroplane wings |
| GB524864A (en) * | 1939-01-26 | 1940-08-16 | Gen Aircraft Ltd | Improvements relating to folding wing aircraft |
| GB810824A (en) * | 1955-03-24 | 1959-03-25 | Fairey Aviat Co Ltd | Improvements relating to aircraft |
| CN105109668B (en) * | 2015-09-23 | 2017-08-29 | 燕山大学 | A kind of variable geometry parallel institution |
| CN205150217U (en) * | 2015-10-16 | 2016-04-13 | 南昌航空大学 | Novel hovercar wing folding mechanism device |
| US10279901B2 (en) * | 2016-09-21 | 2019-05-07 | Bell Helicopter Textron Inc. | Rotating proprotor arrangement for a tiltrotor aircraft |
| CN107914864B (en) * | 2017-11-01 | 2021-04-06 | 成都飞亚航空设备应用研究所有限公司 | Aircraft wing rotating retraction jack and retraction method thereof |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2727101A1 (en) * | 1976-06-18 | 1977-12-29 | Aerospatiale | SYNCHRONIZATION DEVICE FOR FOLDING SUPPORT LINKS |
| US4148163A (en) * | 1976-06-18 | 1979-04-10 | Societe Nationale Industrielle Aerospatiale | Synchronizing mechanism for the unfolding of carrier elements for solar cells |
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