CN111746783B

CN111746783B - A flank structure and navigation ware for navigation ware

Info

Publication number: CN111746783B
Application number: CN202010625779.1A
Authority: CN
Inventors: 张利萍; 罗兵; 王振华; 李维; 崔维成
Original assignee: Westlake University
Current assignee: Westlake University
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2022-07-01
Anticipated expiration: 2040-07-01
Also published as: CN111746783A

Abstract

The disclosed embodiment provides a wing structure for a vehicle and the vehicle, wherein the wing structure comprises at least one multi-link structure, the multi-link structure extends from a vehicle main body to a wing tip direction, each multi-link mechanism comprises a plurality of links, and adjacent links are connected through a motor. The disclosed embodiments provide a wing structure with the characteristics of a wide range of deformable wings in both the chordwise and spanwise directions, the wing structure has the ability to be wing-type variable, pitch angle variable over a wide range, torqueable in the spanwise direction at the distal end portion, ability to swing vertically over a wide range along the plane of the aircraft body, and ability to swing longitudinally over a wide range along the aircraft body, can be adjusted for complex flow fields or environments, greatly increases the speed and efficiency of motion, and can achieve high maneuvers.

Description

A flank structure and navigation ware for navigation ware

Technical Field

The disclosure relates to the field of navigation devices, and in particular relates to a wing structure for an aircraft and the aircraft.

Background

In the prior art, most aircrafts adopt a fixed wing structure or a relatively limited variable wing (morphing wing) structure, so that the adjustment cannot be carried out according to actual navigation or flight environments or complex flow fields, the navigation or flight speed is low, the efficiency is low, the stability is poor, and high maneuvering actions cannot be realized.

Disclosure of Invention

An object of the embodiments of the present disclosure is to provide a wing structure for an aircraft and an aircraft, so as to solve the problems of low navigation or flight speed, low efficiency, poor stability, and inability to implement high maneuvering operation in the prior art.

In order to solve the technical problem, the embodiment of the present disclosure adopts the following technical solutions: a wing structure for a vehicle, comprising at least one multi-link structure, wherein the multi-link structure extends from a vehicle body to a wing tip direction, each multi-link structure comprises a plurality of links, and adjacent links are connected through a motor.

In some embodiments, the linkage and the motor are interconnected to effect at least one of the following changes or movements of the wing structure: the wing profile is variable, the pitch angle is variable, the distal section is twistable in a spanwise direction, yaws along the plane of the aircraft body, yaws along the longitudinal direction of the aircraft body.

In some embodiments, the vehicle body comprises a support link aligned with a length of the vehicle body, and the first end of the multi-link structure is coupled to the support link.

In some embodiments, the second end of the multi-link structure is connected to a terminal flap.

In some embodiments, when the number of multi-link structures is multiple, the multi-link structures are arranged in sequence along the vehicle body.

In some embodiments, the length of the multi-link structures arranged sequentially from the nose to the tail of the vehicle body decreases sequentially.

In some embodiments, a plurality of sets of fins are sleeved on the multi-link structure, each set of fins including at least one fin unit.

In some embodiments, the number of said tab units in each set of said tabs is less than or equal to the number of said multi-link structures.

In some embodiments, in the same group of fins, the adjacent fin units are connected by a spherical hinge.

In some embodiments, the front ends or the rear ends of all the wing units sleeved on the same multi-link structure are connected through a fixing part.

In some embodiments, the fixation portion is a resilient fiber wire or a metal wire.

In some embodiments, the tab unit is provided with a conical hole or a sliding groove.

The disclosed embodiment also provides an aircraft, which adopts the wing structure in any one of the above technical solutions.

The disclosed embodiments provide a wing structure with the characteristics of a wide range of deformable wings in both the chordwise and spanwise directions, the wing structure has the ability to be wing-type variable, pitch angle variable over a wide range, torqueable in the spanwise direction at the distal end portion, ability to swing vertically over a wide range along the plane of the aircraft body, and ability to swing longitudinally over a wide range along the aircraft body, can be adjusted for complex flow fields or environments, greatly increases the speed and efficiency of motion, and can achieve high maneuvers.

Drawings

FIG. 1 is a schematic structural diagram of a wing structure having three multi-link structures according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a wing structure having three multi-link structures according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a leading edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of a leading edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a leading edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of a leading edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 7 is a schematic view of a leading edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 8 is a schematic view of a leading edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 9 is a schematic view of a leading edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 10 is a schematic view of a leading edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 11 is a schematic view of a leading edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 12 is a schematic view of a leading edge multi-link structure having three side wing structures of the multi-link structure of an embodiment of the present disclosure;

FIG. 13 is a schematic view of a central multi-link structure having three side wing structures of the multi-link structure of the disclosed embodiment;

FIG. 14 is a schematic view of a central multi-link structure having three side wing structures of the multi-link structure of the disclosed embodiment;

FIG. 15 is a schematic view of a central multi-link structure having three side wing structures of the multi-link structure of the disclosed embodiment;

FIG. 16 is a schematic view of a central multi-link structure having three side wing structures of the multi-link structure of the disclosed embodiment;

FIG. 17 is a schematic view of a central multi-link structure having three side wing structures of the multi-link structure of the disclosed embodiment;

FIG. 18 is a schematic view of a central multi-link structure having three side wing structures of the multi-link structure of the disclosed embodiment;

FIG. 19 is a schematic view of a central multi-link structure having three side wing structures of the multi-link structure of the disclosed embodiment;

FIG. 20 is a schematic view of a trailing edge multi-link structure having a three multi-link structure wing structure of an embodiment of the present disclosure;

FIG. 21 is a schematic view of a trailing edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 22 is a schematic view of a trailing edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 23 is a schematic view of a trailing edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 24 is a schematic view of a trailing edge multi-link structure having three side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 25 is a schematic structural view of a wing in a wing structure having three multi-link structures according to an embodiment of the present disclosure;

FIG. 26 is a schematic structural view of a wing unit in a wing having a wing structure with three multi-link structures according to an embodiment of the present disclosure;

FIG. 27 is a schematic illustration of the connection of the linkage mechanism of the wing structure with three multi-link structures to the support structure according to the embodiment of the present disclosure;

FIG. 28 is a schematic illustration of the connection of the linkage mechanism of the wing structure with three multi-link structures to the support structure according to the embodiment of the present disclosure;

FIG. 29 is a schematic illustration of the connection of the linkage mechanism of the wing structure with three multi-link structures to the support structure according to the embodiment of the disclosure;

FIG. 30 is a schematic illustration of the connection of the linkage mechanism of the wing structure having three multi-link structures to the support structure of the embodiment of the present disclosure;

FIG. 31 is a schematic view of a wing structure having two multi-link structures according to an embodiment of the present disclosure;

FIG. 32 is a schematic view of a wing structure having two multi-link structures according to an embodiment of the present disclosure;

FIG. 33 is a schematic view of a wing structure having two multi-link structures according to an embodiment of the present disclosure;

FIG. 34 is a schematic view of a leading edge multi-link structure having two side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 35 is a schematic view of a leading edge multi-link structure having two side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 36 is a schematic view of a leading edge multi-link structure having two side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 37 is a schematic view of a leading edge multi-link structure having two side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 38 is a schematic view of a leading edge multi-link structure having two side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 39 is a schematic view of a leading edge multi-link structure having two side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 40 is a schematic view of a leading edge multi-link structure having two side wing structures of the multi-link structure in accordance with an embodiment of the present disclosure;

FIG. 41 is a schematic view of a leading edge multi-link structure having two side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 42 is a schematic view of a leading edge multi-link structure having two side wing structures of the multi-link structure of an embodiment of the present disclosure;

FIG. 43 is a schematic view of a leading edge multi-link structure having two side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 44 is a schematic view of a central multi-link structure having two side wing structures of the multi-link structure of an embodiment of the present disclosure;

FIG. 45 is a schematic view of a middle multi-link structure having two side wing structures of the multi-link structure of an embodiment of the present disclosure;

FIG. 46 is a schematic view of a central multi-link structure having two side wing structures of the multi-link structure of an embodiment of the present disclosure;

FIG. 47 is a schematic view of a middle multi-link structure having two side wing structures of a multi-link structure according to an embodiment of the present disclosure;

FIG. 48 is a schematic view of a central multi-link structure having two side wing structures of the multi-link structure of an embodiment of the present disclosure;

FIG. 49 is a schematic view of a central multi-link structure having two side wing structures of the multi-link structure of an embodiment of the present disclosure;

FIG. 50 is a schematic view of a middle multi-link structure having two side wing structures of the multi-link structure of an embodiment of the present disclosure;

FIG. 51 is a schematic structural view of a wing in a wing structure having two multi-link structures according to an embodiment of the present disclosure;

FIG. 52 is a schematic structural view of a wing unit in a wing having a wing structure with two multi-link structures according to an embodiment of the present disclosure;

FIG. 53 is a schematic view of a linkage mechanism with two side wing structures of a multi-link structure coupled to a support structure according to an embodiment of the disclosure;

FIG. 54 is a schematic view of the linkage mechanism with two side wing structures of the multi-link structure coupled to a support structure according to an embodiment of the present disclosure;

FIG. 55 is a schematic view of a linkage mechanism with two side wing structures of a multi-link structure coupled to a support structure according to an embodiment of the present disclosure;

FIG. 56 is a schematic view of a leading edge multi-link structure having one multi-link structure wing structure of an embodiment of the present disclosure;

FIG. 57 is a schematic structural view of a wing structure having a multi-link structure according to an embodiment of the present disclosure;

FIG. 58 is a schematic illustration of a wing structure having a multi-link structure according to an embodiment of the present disclosure;

FIG. 59 is a schematic view of a leading edge multi-link structure having one multi-link structure flanking structure of an embodiment of the present disclosure.

FIG. 60 is a schematic view of a leading edge multi-link structure having one multi-link structure wing structure according to an embodiment of the present disclosure;

FIG. 61 is a schematic view of a leading edge multi-link structure having one side wing structure of a multi-link structure according to an embodiment of the present disclosure;

FIG. 62 is a schematic view of a leading edge multi-link structure having one multi-link structure wing structure according to an embodiment of the present disclosure;

FIG. 63 is a schematic view of a leading edge multi-link structure having one multi-link structure wing structure according to an embodiment of the present disclosure;

FIG. 64 is a schematic view of a leading edge multi-link structure having one side wing structure of a multi-link structure according to an embodiment of the present disclosure;

FIG. 65 is a schematic view of a leading edge multi-link structure having one multi-link structure wing structure of an embodiment of the present disclosure;

FIG. 66 is a schematic view of a leading edge multi-link structure having one multi-link structure wing structure of an embodiment of the present disclosure;

FIG. 67 is a schematic view of a leading edge multi-link structure having one multi-link structure wing structure according to an embodiment of the present disclosure;

FIG. 68 is a schematic view of a leading edge multi-link structure having one multi-link structure wing structure of an embodiment of the present disclosure;

FIG. 69 is a schematic view of a wing in a wing structure having a multi-link structure according to an embodiment of the present disclosure;

FIG. 70 is a schematic view of a wing unit in a wing having a wing structure with a multi-link structure according to an embodiment of the present disclosure;

FIG. 71 is a schematic illustration of the connection of the linkage mechanism of the wing structure having one multi-link structure with the support structure of the embodiments of the present disclosure;

FIG. 72 is a schematic view of the linkage mechanism with one side wing structure of a multi-link structure coupled to a support structure according to an embodiment of the present disclosure;

reference numerals:

1-leading edge multi-link structure; 2-a middle multi-link structure; 3-a trailing edge multi-link structure; 8-leading edge tip flap; 9-middle end flap; 10-a support link;

101-a first leading edge link; 102-a second leading edge link; 103-a third leading edge link; 104-a fourth leading edge link; 105-a fifth leading edge link; 106-a first leading edge connector; 107-a second leading edge connector; 108-a third leading edge connector; 109-a fourth leading edge connector; 111-a first leading edge motor; 1111-a first leading edge motor rotor; 1112-a first leading edge motor stator; 112-a second leading edge motor; 1121-a second leading edge motor stator; 1122-a second leading edge motor rotor; 113-a third leading edge motor; 1131 — a third leading edge motor stator; 1132 — a third leading edge motor rotor; 114-a fourth leading edge motor; 1141-a fourth leading edge motor stator; 1142-a fourth leading edge motor rotor; 115-a fifth leading edge motor; 1151-a fifth leading edge motor stator; 1152-a fifth leading edge motor rotor; 116-a sixth leading edge motor; 1161-a sixth leading edge motor rotor; 1162-a sixth leading edge motor stator; 117-seventh leading edge motor; 1171-a seventh leading edge motor stator; 1172-a seventh leading edge motor rotor; 118-fifth leading edge connector 119-sixth leading edge connector; 120-a seventh leading edge connector;

201-a first middle link; 202-a second middle link; 203-a third middle link; 204-a first middle connector; 205-a second mid-connection; 206-a third middle connector; 207-fourth middle connection; 208-fifth middle connector 209-sixth middle connector; 211-a first mid motor; 2111-first mid-section motor rotor; 2112-first middle motor stator; 212-a second mid-motor; 2121-a second middle motor stator; 2122-a second middle motor rotor; 213-a third mid-section motor; 2131-a third middle motor stator; 2132-a third mid-motor rotor; 214-a fourth mid motor; 2141-a fourth middle motor stator; 2142-a fourth middle motor rotor;

301-a first trailing edge link; 302-a second trailing edge link; 303-a first trailing edge connector; 304-a second trailing edge connector; 305-a third trailing edge connector; 306-a fourth trailing edge connector; 311-a first trailing edge motor; 3111-a first trailing edge motor rotor; 3112-a first trailing edge motor stator; 312-a second trailing edge motor; 3121-a second trailing edge motor stator; 3122-a second trailing edge motor rotor; 313-a third trailing edge motor; 3131-a third trailing edge motor stator; 3132-third trailing edge motor rotor.

Detailed Description

Various aspects and features of the disclosure are described herein with reference to the drawings.

It will be understood that various modifications may be made to the embodiments of the present application. Accordingly, the foregoing description should not be construed as limiting, but merely as exemplifications of embodiments. Other modifications will occur to those skilled in the art within the scope and spirit of the disclosure.

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.

These and other characteristics of the present disclosure will become apparent from the following description of preferred forms of embodiment, given as non-limiting examples, with reference to the attached drawings.

It should also be understood that, although the present disclosure has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of the disclosure, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

The above and other aspects, features and advantages of the present disclosure will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely exemplary of the disclosure that may be embodied in various forms. Well-known and/or repeated functions and structures have not been described in detail so as not to obscure the present disclosure with unnecessary or unnecessary detail. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure.

The specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which may each refer to one or more of the same or different embodiments in accordance with the disclosure.

The disclosed embodiment relates to a wing structure suitable for an aircraft, wherein the aircraft can realize navigation, flight, gliding and high maneuvering actions based on the swinging and other movements of the wing structure in the air or water, the structure of the aircraft can be a bionic structure similar to a bionic bird, a bionic fish and the like, and can also be a structure of an airplane type double-wing aircraft and the like, and the specific structure of the aircraft is not limited by the disclosure. The wing structures herein may also be referred to as "flapping wings" and may be disposed at any position on the vehicle body, for example, at the side of the vehicle body, at a single side, or at two symmetrical sides of the vehicle body, and the disclosure is not limited to the position of the wing structures.

In the disclosed embodiment, the wing structure can have a large-range variable pitch angle, so as to realize the effects of up-and-down flapping and back-and-forth swinging, and the wing structure can realize large-amplitude twisting and curling in the wingspan direction. Therefore, the side wing structure can be realized in a multi-link structure and a mode of combining with motor driving, and the twisting and the curling of the side wing structure are realized through the cooperation of the multi-link structure and the motor. Different flank structural forms can be realized according to the number of the multi-link structures adopted in the flank structure, so that different swinging postures and degrees are realized. The motor here may be an external rotor motor or an internal rotor motor, and generally includes a stator and a rotor.

The multi-connecting-rod structure is sleeved with the wing pieces, so that a certain wing shape is realized, and the wing shape changes in real time in motion; the integral wing structure is covered with a film material which forms the flexible skin of the wing structure.

In the following first embodiment, an embodiment in which the side wing structure is realized by three multi-link structures is described in detail.

Fig. 1 and 2 show a schematic structural view of a wing structure having three multi-link structures, in which three multi-link structures are arranged in the wing front edge, the middle part and the rear edge of the wing in order from the vehicle body to the wing tip, respectively, a front edge multi-link structure 1, a middle part multi-link structure 2 and a rear edge multi-link structure 3 are arranged in order from the head to the tail of the vehicle body and have a decreasing total length, respectively, first ends of the three multi-link structures are connected to a support link 10 located on the vehicle body, where the support link 10 belongs to a part on the skeleton of the vehicle body, and the direction of the support link 10 can be the same as the length direction of the vehicle body. The three multi-link structures respectively perform independent movement according to control commands so as to better simulate the movement of a living being, and a wing is sleeved between the multi-link structures and consists of wing units, wherein the wing units can be made of rigid materials, and preferably, the wing units close to the tail part of the aircraft can be made of flexible materials completely or made of semi-rigid and semi-flexible materials, so that the wing units close to the tail part of the aircraft have the capability of passive flexible deformation. The wing structure in the disclosed embodiments features a wide range of wing variations in both the chord-wise and span-wise directions, the ability to have a wide range of wing profiles, a wide range of pitch angles, and the ability to have a twist in the span-wise direction at the distal portion of the wing structure away from the aircraft body, a wide range of vertical oscillation in the plane of the aircraft body, and a wide range of longitudinal oscillation in the aircraft body.

Fig. 3 shows the leading edge multi-link structure 1 at the leading edge of the flank, which comprises a first leading edge link 101, a second leading edge link 102, a third leading edge link 103, a fourth leading edge link 104 and a fifth leading edge link 105 connected in sequence, wherein the first leading edge link 101 is connected with the support link 10 and the fifth leading edge link 105 is connected with the leading edge end flap 8.

In order to enable the leading edge multi-link structure 1 of the leading edge of the flank to swing with multiple degrees of freedom, the leading edge link and the support link and the adjacent leading edge link are connected through a motor, specifically, the first leading edge link 101 and the support link 10 are connected through a first leading edge motor 111 and a second leading edge motor 112, the first leading edge link 101 and the second leading edge link 102 are connected through a third leading edge motor 113, the second leading edge link 102 and the third leading edge link 103 are connected through a fourth leading edge motor 114 and a fifth leading edge motor 115, the third leading edge link 103 and the fourth leading edge link 104 are connected through a sixth leading edge motor 116, and the fourth leading edge link 104 and the fifth leading edge link 105 are connected through a seventh leading edge motor 117. The first leading edge motor 111 and the sixth leading edge motor 116 are outer rotor motors, and the second leading edge motor 112, the third leading edge motor 113, the fourth leading edge motor 114, the fifth leading edge motor 115 and the seventh leading edge motor 117 are inner rotor motors.

It should be noted that, the number of the connecting rods and the arrangement of the motors between the connecting rods in the embodiment of the present disclosure may be adjusted and arranged according to actual situations, and are not limited to the arrangement in the embodiment.

Further, as described above, the first leading edge link 101 is connected to the support link 10 through the first leading edge motor 111 and the second leading edge motor 112, wherein the first leading edge motor 111 and the second leading edge motor 112 cooperate with each other to enable the wing structure to swing vertically along the plane of the aircraft body, and also enable the wing structure to swing longitudinally along the aircraft body, specifically, as shown in fig. 4 and 5, the first leading edge motor 111 includes a first leading edge motor rotor 1111 and a first leading edge motor stator 1112, the second leading edge motor 112 includes a second leading edge motor stator 1121 and a second leading edge motor rotor 1122, wherein the first leading edge motor stator 1112 is located in the first leading edge motor rotor 1111, the second leading edge motor rotor 1122 is located in the second leading edge motor stator 1121, and the first leading edge motor stator 1112 is connected to the support link 10, such that the first leading edge motor stator 1112 and the support link 10 are coaxially disposed, the first leading edge motor rotor 1111 is coupled to the second leading edge motor stator 1121 via the first leading edge connection 106, such that the first leading edge motor stator 1112 and the second leading edge motor rotor 1122 are oriented perpendicular to each other, a second leading edge connecting piece 107 is arranged at the first end part of the first leading edge connecting rod 101, a second leading edge motor stator 1121 is connected with the first leading edge connecting rod 101 through the second leading edge connecting piece 107, for example, the first front edge connecting member 106 and the second front edge connecting member 107 may be U-shaped connecting members, the first front edge motor rotor 1111 is fixedly disposed between two side edges of the first front edge connecting member 106, a bottom edge of the first front edge connecting member 106 is connected to a side surface of the second front edge motor stator 1121, the second front edge motor rotor 1122 is rotatably connected to two side edges of the second front edge connecting member 107, and a bottom edge of the second front edge connecting member 107 is connected to the first end portion of the first front edge connecting rod 101.

As described above, the first leading edge link 101 and the second leading edge link 102 are connected by the third leading edge motor 113, and, specifically, as shown in fig. 6 and 7, the third leading edge motor 113 includes a third leading edge motor stator 1131 and a third leading edge motor rotor 1132, wherein a third leading edge motor rotor 1132 is located within a third leading edge motor stator 1131, a third leading edge connector 108 is provided at the second end of the first leading edge link 101, the first leading edge link 101 is connected to a third leading edge motor stator 1131 via the third leading edge connector 108, a fourth leading edge connector 109 is provided at a first end of the second leading edge link 102, a third leading edge motor rotor 1132 is connected to the second leading edge link 102 via the fourth leading edge connector 109, for example, the fourth leading edge link 109 is a U-shaped link, the third leading edge motor rotor 1132 is rotatably connected to two sides of the fourth leading edge link 109, and the bottom of the fourth leading edge link 109 is connected to the first end of the second leading edge link 102.

As described above, the second leading edge link 102 and the third leading edge link 103 are connected by the fourth leading edge motor 114 and the fifth leading edge motor 115, wherein the fourth leading edge motor 114 and the fifth leading edge motor 115 cooperate with each other to enable the distal portion of the wing structure distal from the aircraft body to swing vertically along the wing body plane at the proximal torso end of the wing, and also to enable the distal portion of the wing structure distal from the aircraft body to have a twisting swing capability in a wingspan direction. Specifically, as shown in FIGS. 8 and 9, fourth leading edge motor 114 includes a fourth leading edge motor stator 1141 and a fourth leading edge motor rotor 1142, and fifth leading edge motor 115 includes a fifth leading edge motor stator 1151 and a fifth leading edge motor rotor 1152, wherein fourth leading edge motor rotor 1142 is located in fourth leading edge motor stator 1141, fifth leading edge motor rotor 1152 is located in fifth leading edge motor stator 1151, second leading edge link 102 is coaxially connected to fourth leading edge motor rotor 1142, fourth leading edge motor stator 1141 and fifth leading edge motor stator 1151 are connected perpendicularly to each other, fifth leading edge connector 118 is provided at a first end of third leading edge link 103, and fifth leading edge motor 1152 is connected to third leading edge link 103 via fifth leading edge connector 118, so that fifth leading edge motor 115 can cause the wing structure to perform a span-wise twisting action, e.g., fifth leading edge connector 118 is a U-shaped connector, the fifth leading edge motor rotor 1152 is rotatably connected to both sides of the fifth leading edge link 118, and the bottom side of the fifth leading edge link 110 is connected to the first end of the third leading edge link 103.

As described above, the third leading edge link 103 and the fourth leading edge link 104 are connected by the sixth leading edge motor 116, wherein the sixth leading edge motor 116 is capable of pitching the distal end portion of the wing structure, and specifically, as shown in fig. 10, the sixth leading edge motor 116 includes the sixth leading edge motor rotor 1161 and the sixth leading edge motor stator 1162, wherein the sixth leading edge motor stator 1162 is located in the sixth leading edge motor rotor 1161, the third leading edge link 103 is coaxially connected to a first end of the sixth leading edge motor stator 1162, and a second end of the sixth leading edge motor stator 1162 is coaxially connected to the fourth leading edge link 104.

As described above, the fourth leading edge link 104 and the fifth leading edge link 105 are connected by the seventh leading edge motor 117, specifically, as shown in fig. 11 and 12, the seventh leading edge motor 117 includes a seventh leading edge motor stator 1171 and a seventh leading edge motor rotor 1172, wherein the seventh leading edge motor rotor 1172 is located in the seventh leading edge motor stator 1171, the sixth leading edge connector 119 is provided at the second end portion of the fourth leading edge link 104, the fourth leading edge link 104 is connected to the seventh leading edge motor stator 1171 by the sixth leading edge connector 119, the seventh leading edge connector 120 is provided at the first end portion of the fifth leading edge link 105, the seventh leading edge motor rotor 1172 is connected to the fifth leading edge link 105 by the seventh leading edge connector 120, for example, the seventh leading edge connector 120 is a U-shaped connector, the seventh leading edge motor rotor 1172 is rotatably connected to both side edges of the seventh leading edge connector 120, and the bottom edge of the seventh leading edge connector 120 is connected to the first end portion of the fifth leading edge link 105, the second end of the fifth leading edge link 105 is connected to the leading edge tip flap 8.

Figure 13 shows a central multi-link structure in the middle of the side wings comprising a first central link 201, a second central link 202 and a third central link 203 connected in series, wherein the first central link 201 is connected to the support link 10 and the third central edge link 203 is connected to the central end flap 9.

In order to enable the middle multi-link structure in the middle of the side wing to swing with multiple degrees of freedom, the middle links and the support links and the adjacent middle links are connected through motors, specifically, the first middle link 101 and the support link 10 are connected through a first middle motor 211 and a second middle motor 212, the first middle link 201 and the second middle link 202 are connected through a third middle motor 213, and the second middle link 202 and the third middle link 203 are connected through a fourth middle motor 214. The first middle motor 211 is an outer rotor motor, and the second middle motor 212, the third middle motor 213, and the fourth middle motor 214 are inner rotor motors.

Further, as mentioned above, the first middle link 201 is connected to the support link 10 through the first middle motor 211 and the second middle motor 212, and the first middle motor 211 and the second middle motor 212 cooperate with each other to enable the wing structure to swing vertically along the plane of the main body of the aircraft, and also to enable the wing structure to swing longitudinally along the main body of the aircraft, specifically, as shown in fig. 14 and 15, the first middle motor 211 includes a first middle motor rotor 2111 and a first middle motor stator 2112, and the second middle motor 212 includes a second middle motor stator 2121 and a second middle motor rotor 2122, wherein the first middle motor stator 2112 is located in the first middle motor rotor 1, the second middle motor rotor 2122 is located in the second middle motor stator 2121, and the first middle motor stator 2112 is connected to the support link 10, such that the first intermediate motor stator 2112 and the support link 10 are coaxially disposed, the first intermediate motor rotor 2111 is connected to the second intermediate motor stator 2121 via the first intermediate link 204, such that the first mid-motor stator 2112 and second mid-motor rotor 2122 are oriented perpendicular to each other, a second middle link 205 is provided at the first end of the first middle link 201, a second middle motor stator 2121 is connected to the first middle link 101 through the second middle link 205, for example, the first middle link 204 and the second middle link 205 are U-shaped links, the first middle motor rotor 2111 is fixedly disposed between two side edges of the first middle link 204, the bottom edge of the first middle link 204 is connected to a side surface of the second middle motor stator 2121, the second middle motor rotor 2122 is rotatably connected to two side edges of the second middle link 205, and the bottom edge of the second middle link 205 is connected to the first end of the first middle link 201.

As described above, the first and second

middle links

201 and 202 are connected to each other by the third middle motor 213, and, in particular, as shown in fig. 16 and 17, the third middle motor 213 includes a third middle motor stator 2131 and a third middle motor rotor 2132, wherein a third middle motor rotor 2132 is located within a third middle motor stator 2131, a third middle link 206 is provided at a second end of the first middle link 201, the first middle link 201 is connected to a third middle motor stator 2131 through the third middle link 206, a fourth intermediate link 207 is provided at a first end of the second intermediate link 202, the third intermediate motor rotor 2132 is connected to the second intermediate link 202 through the fourth intermediate link 207, for example, the fourth middle link 207 is a U-shaped link, the third middle motor rotor 2132 is rotatably connected to two sides of the fourth middle link 207, and the bottom side of the fourth middle link 207 is connected to the first end of the second middle link 202.

As described above, the second middle link 202 and the third middle link 203 are connected by the fourth middle motor 214, specifically, as shown in fig. 18 and 19, the fourth middle motor 214 includes a fourth middle motor stator 2141 and a fourth middle motor rotor 2142, wherein the fourth middle motor rotor 2142 is located in the fourth middle motor stator 2141, a fifth middle connection member 208 is disposed at the second end of the second middle link 202, the second middle link 202 is connected to the fourth middle motor stator 2141 by the fifth middle connection member 208, a sixth middle connection member 209 is disposed at the first end of the third middle link 203, the fourth middle motor rotor 2142 is connected to the third middle link 203 by the sixth middle connection member 209, for example, the sixth middle connection member 209 is a U-shaped connection member, the fourth middle motor rotor 2142 is rotatably connected between both side edges of the sixth middle connection member 209, a bottom edge of the sixth middle connection member 209 is connected to the first end of the third middle link 203, the second end of the third middle link 203 is connected to the middle end flap 9.

Fig. 20 shows a trailing edge multi-link structure at the trailing edge of the flank, which includes a first trailing edge link 301 and a second trailing edge link 302 connected in series, wherein the first trailing edge link 301 is connected with the support link 10.

In order to enable the trailing edge multi-link structure of the trailing edge of the flank to swing with multiple degrees of freedom, the trailing edge links are connected with the support links and adjacent trailing edge links through motors, specifically, the first trailing edge link 301 is connected with the support link 10 through the first trailing edge motor 311 and the second trailing edge motor 312, and the first trailing edge link 301 is connected with the second trailing edge link 302 through the third trailing edge motor 313. The first trailing edge motor 311 is an outer rotor motor, and the second trailing edge motor 312 and the third trailing edge motor 313 are inner rotor motors.

Further, as mentioned above, the first trailing edge link 301 and the support link 10 are connected by the first trailing edge motor 311 and the second trailing edge motor 312, and the first trailing edge motor 311 and the second trailing edge motor 312 cooperate with each other to enable the wing structure to swing vertically along the plane of the main body of the aircraft, and also to enable the wing structure to swing longitudinally along the plane of the main body of the aircraft, specifically, as shown in fig. 21 and 22, the first trailing edge motor 311 includes a first trailing edge motor rotor 3111 and a first trailing edge motor stator 3112, and the second trailing edge motor 312 includes a second trailing edge motor stator 3121 and a second trailing edge motor rotor 3122, wherein the first trailing edge motor stator 3112 is located in the first trailing edge motor rotor 3111, the second trailing edge motor rotor 3122 is located in the second trailing edge motor stator 3121, and the first trailing edge motor stator 3122 is connected to the support link 10, so that the first trailing edge motor stator 3112 and the support link 10 are coaxially disposed, the first trailing edge motor rotor 3111 is connected to the second trailing edge motor stator 3121 through the first trailing edge connection member 303, such that the directions of the first trailing edge motor stator 3112 and the second trailing edge motor rotor 3122 are perpendicular to each other, a second trailing edge connecting member 304 is provided at the first end portion of the first trailing edge link 301, the second trailing edge motor stator 3121 is connected to the first trailing edge link 301 through the second trailing edge connecting member 304, for example, the first trailing edge link 303 and the second trailing edge link 304 are U-shaped links, the first trailing edge motor rotor 3111 is fixedly disposed between two side edges of the first trailing edge link 303, a bottom edge of the first trailing edge link 303 is connected to a side surface of the second trailing edge motor stator 3121, the second trailing edge motor rotor 3122 is rotatably connected to two side edges of the second trailing edge link 304, and a bottom edge of the second trailing edge link 304 is connected to the first end portion of the first trailing edge link 301.

As described above, the first trailing edge link 301 and the second trailing edge link 302 are connected to each other by the third trailing edge motor 313, and, specifically, as shown in fig. 23 and 24, the third trailing edge motor 313 includes a third trailing edge motor stator 3131 and a third trailing edge motor rotor 3132, wherein the third trailing edge motor rotor 3132 is located within the third trailing edge motor stator 3131, a third trailing edge link 305 is provided at a second end portion of the first trailing edge link 301, the first trailing edge link 301 is connected to a third trailing edge motor stator 3131 via the third trailing edge link 305, a fourth trailing edge link 306 is provided at a first end of the second trailing edge link 302, the third trailing edge motor rotor 3132 is connected to the second trailing edge link 302 via the fourth trailing edge link 306, for example, the fourth trailing edge link 306 is a U-shaped link, the third trailing edge motor rotor 3132 is rotatably connected to both side edges of the fourth trailing edge link 306, and the bottom edge of the fourth trailing edge link 306 is connected to the first end of the second trailing edge link 302.

Referring to fig. 1, a plurality of sets of vanes 4 are sleeved among the front edge multi-link structure 1, the middle multi-link structure 2 and the rear edge multi-link structure 3, as shown in fig. 25, each set of vanes includes at least one vane unit 5, and adjacent vane units 5 are connected by a spherical hinge, for example, by a spherical hinge, so that the adjacent vane units 5 can rotate relative to each other; each wing unit 5 is sleeved on the corresponding link mechanism, the number of the wing units 5 is adjusted according to the wing width, for example, at the position close to the support link 10 of the main body of the aircraft, the wing units 5 can be sleeved on the front edge multi-link structure 1, the middle multi-link structure 2 and the rear edge multi-link structure 3, at the position located in the middle of the wing structure, the wing units 5 can be sleeved on the front edge multi-link structure 1 and the middle multi-link structure 2, and at the position close to the wing tip, the wing units 5 can be sleeved only on the front edge multi-link structure 1. Furthermore, the front end and the rear end of the wing unit 5 sleeved on the same multi-link structure are connected through a fixing part, wherein the fixing part can be an elastic fiber wire or a metal wire, so that the wing unit 5 sleeved on the same multi-link structure can synchronously swing based on the corresponding multi-link structure, and the pitching motion of the wing structure is realized.

In order to facilitate the swinging of different link mechanisms, in one embodiment, the wing units 5 sleeved with the leading edge multi-link structure 1 are provided with conical holes 6, so that the wing units 5 sleeved with the leading edge multi-link structure 1 can swing up and down, left and right as passive wings, and the wing units 5 can swing freely along with the swinging of the link mechanisms; the sliding grooves 7 are formed in the fin units 5 sleeved with the middle multi-link structure 2 or the rear edge multi-link structure 3, so that the distance between the multi-link structures can be adjusted to a certain degree, and asynchronous swinging is realized between the front edge multi-link structure 1 and the middle multi-link structure 2, so that the function of controlling the variable pitch angle of the side wing structure is realized; of course, in another embodiment, the wing units 5 are different from the wing units 5 sleeved on the leading edge multi-link structure 1, and the wing units 5 can be sleeved on the motor on the link mechanism as an active driving type wing so as to be driven based on the movement of the motor, for example, as shown in fig. 26, the active driving type wing can be generally arranged at the position of the wing structure close to the wing tip; the vane unit 5 can be sleeved outside the sixth leading edge motor rotor 1161 of the sixth leading edge motor 116, two protrusions are arranged on the surface of the sixth leading edge motor rotor 1161 to limit the position of the vane unit 5, and the vane unit 5 can be sleeved between the two protrusions and limited to move between the two protrusions, so that the position of the vane unit 5 is relatively fixed outside the sixth leading edge motor rotor 1161 and cannot slide towards the framework direction or the wing tip direction of the aircraft body. It should be noted that the size of the vane units 5 sleeved on different link structures is adjusted along with the wing profile.

Further, considering that the first leading edge link 101 is connected to the support link 10 by the first leading edge motor 111 and the second leading edge motor 112, the first middle link 101 is connected to the support link 10 by the first middle motor 211 and the second middle motor 212, the first trailing edge link 301 is connected to the support link 10 by the first trailing edge motor 311 and the second trailing edge motor 312, as shown in fig. 27-30, the support link 10 includes a first segment 11, a second segment 12, a third segment 13 and a fourth segment 14, two ends of a first leading edge motor stator 1112 of the first leading edge motor 111 are respectively and coaxially connected with the first section 11 and the second section 12, two ends of a first middle motor stator 2112 of the first middle motor 211 are respectively and coaxially connected with the second section 12 and the third section 13, and two ends of a first trailing edge motor stator 3112 of the first trailing edge motor 311 are respectively and coaxially connected with the third section 13 and the fourth section 14.

By adopting the wing structure of the embodiment, when the first front edge motor 111, the third front edge motor 113, the fifth front edge motor 115 and the seventh front edge motor 117 are adopted to rotate, the corresponding middle motors rotate in the same direction, so that the corresponding connecting rods swing up and down, and the wing structure swings up and down; when the second front edge motor 112, the second middle motor 212 and the second rear edge motor 312 are adopted to synchronously swing, the front-back swing of the wing structure is realized; when the fourth leading edge motor 114 is used for rotation, the end portion of the wing structure is twisted.

In the following second embodiment, an embodiment is described in detail in which the side wing structure is realized by two multi-link structures.

Fig. 31, 32 and 33 respectively show a schematic structural diagram of a wing structure having two multi-link structures, in which two multi-link structures are respectively arranged at the front edge and the middle part of the wing, extending from the main body of the aircraft to the wing tip direction, respectively, a front edge multi-link structure 1 and a middle multi-link structure 2, which are sequentially arranged from the head to the tail of the main body of the aircraft and have sequentially reduced total lengths, the first ends of the two multi-link structures are respectively connected with a support link 10 positioned on the main body of the aircraft, the direction of the support link 10 is consistent with the depth direction of the main body of the aircraft, and the two multi-link structures respectively perform independent motions according to control commands so as to better simulate the motion of a living being; the wing is sleeved between the multi-link mechanisms, and the wing is composed of wing units, wherein the wing units can be made of rigid materials, and preferably, the wing units close to the tail of the aircraft can be made of flexible materials completely or semi-rigid semi-flexible materials, so that the wing units close to the tail of the aircraft have the capability of passive flexible deformation. The wing structure in the disclosed embodiments features a wide range of wing variations in both the chord-wise and span-wise directions, the ability to have a wide range of wing profiles, a wide range of pitch angles, and the ability to have a twist in the span-wise direction at the distal portion of the wing structure away from the aircraft body, a wide range of vertical oscillation in the plane of the aircraft body, and a wide range of longitudinal oscillation in the aircraft body.

FIG. 34 shows a leading edge multi-link structure at the leading edge of the wing, which includes a first leading edge link 101, a second leading edge link 102, a third leading edge link 103, a fourth leading edge link 104, and a fifth leading edge link 105 connected in series, where the first leading edge link 101 is connected to the support link 10 and the fifth leading edge link 105 is connected to the leading edge tip flap 8.

In order to enable the front edge multi-link structure of the front edge of the flank to swing with multiple degrees of freedom, the front edge link and the support link and the adjacent front edge links are connected through a motor, specifically, the first front edge link 101 and the support link 10 are connected through a first front edge motor 111 and a second front edge motor 112, the first front edge link 101 and the second front edge link 102 are connected through a third front edge motor 113, the second front edge link 102 and the third front edge link 103 are connected through a fourth front edge motor 114 and a fifth front edge motor 115, the third front edge link 103 and the fourth front edge link 104 are connected through a sixth front edge motor 116, and the fourth front edge link 104 and the fifth front edge link 105 are connected through a seventh front edge motor 117. The first leading edge motor 111 and the sixth leading edge motor 116 are outer rotor motors, and the second leading edge motor 112, the third leading edge motor 113, the fourth leading edge motor 114, the fifth leading edge motor 115 and the seventh leading edge motor 117 are inner rotor motors.

Further, as mentioned above, the first leading edge link 101 is connected to the support link 10 by the first leading edge motor 111 and the second leading edge motor 112, and the first leading edge motor 111 and the second leading edge motor 112 cooperate with each other to enable the wing structure to swing vertically along the plane of the main body of the aircraft, and also to enable the wing structure to swing longitudinally along the main body of the aircraft, specifically, as shown in fig. 35 and fig. 36, the first leading edge motor 111 includes a first leading edge motor rotor 1111 and a first leading edge motor stator 1112, the second leading edge motor 112 includes a second leading edge motor stator 1121 and a second leading edge motor rotor 1122, wherein the first leading edge motor stator 1112 is located in the first leading edge motor rotor 1111, the second leading edge motor rotor 1122 is located in the second leading edge motor stator 1121, and the first leading edge motor stator 1112 is connected to the support link 10, such that the first leading edge motor stator 1112 and the support link 10 are coaxially disposed, the first leading edge motor rotor 1111 is coupled to the second leading edge motor stator 1121 via the first leading edge connection 106, such that the first leading edge motor stator 1112 and the second leading edge motor rotor 1122 are oriented perpendicular to each other, a second leading edge connecting piece 107 is arranged at the first end of the first leading edge connecting rod 101, a second leading edge motor stator 1121 is connected with the first leading edge connecting rod 101 through the second leading edge connecting piece 107, for example, the first front edge connecting member 106 and the second front edge connecting member 107 may be U-shaped connecting members, the first front edge motor rotor 1111 is fixedly disposed between two side edges of the first front edge connecting member 106, a bottom edge of the first front edge connecting member 106 is connected to a side surface of the second front edge motor stator 1121, the second front edge motor rotor 1122 is rotatably connected to two side edges of the second front edge connecting member 107, and a bottom edge of the second front edge connecting member 107 is connected to the first end portion of the first front edge connecting rod 101.

As described above, the first leading edge link 101 and the second leading edge link 102 are connected by the third leading edge motor 113, and, specifically, as shown in fig. 37 and 38, the third leading edge motor 113 includes a third leading edge motor stator 1131 and a third leading edge motor rotor 1132, wherein a third leading edge motor rotor 1132 is located within a third leading edge motor stator 1131, a third leading edge connector 108 is provided at the second end of the first leading edge link 101, the first leading edge link 101 is connected to a third leading edge motor stator 1131 via the third leading edge connector 108, a fourth leading edge connection 109 is provided at the first end of the second leading edge link 102, the third leading edge motor rotor 1132 is connected to the second leading edge link 102 via the fourth leading edge connection 109, for example, the fourth leading edge link 109 is a U-shaped link, the third leading edge motor rotor 1132 is rotatably connected to two sides of the fourth leading edge link 109, and the bottom of the fourth leading edge link 109 is connected to the first end of the second leading edge link 102.

As described above, the second leading edge link 102 and the third leading edge link 103 are connected by the fourth leading edge motor 114 and the fifth leading edge motor 115, wherein the fourth leading edge motor 114 and the fifth leading edge motor 115 cooperate with each other to enable the distal portion of the wing structure distal from the aircraft body to swing vertically along the wing body plane at the proximal torso end of the wing, and also to enable the distal portion of the wing structure distal from the aircraft body to have a twisting swing capability in a wingspan direction. Specifically, as shown in FIGS. 39 and 40, fourth leading edge motor 114 includes a fourth leading edge motor stator 1141 and a fourth leading edge motor rotor 1142, and fifth leading edge motor 115 includes a fifth leading edge motor stator 1151 and a fifth leading edge motor rotor 1152, wherein fourth leading edge motor rotor 1142 is located in fourth leading edge motor stator 1141, fifth leading edge motor rotor 1152 is located in fifth leading edge motor stator 1151, second leading edge link 102 is coaxially connected to fourth leading edge motor rotor 1142, fourth leading edge motor stator 1141 and fifth leading edge motor stator 1151 are connected perpendicularly to each other, fifth leading edge connector 118 is provided at a first end of third leading edge link 103, and fifth leading edge motor 1152 is connected to third leading edge link 103 via fifth leading edge connector 118, so that fifth leading edge motor 115 can cause the wing structure to perform a span-wise twisting action, e.g., fifth leading edge connector 118 is a U-shaped connector, the fifth leading edge motor rotor 1152 is rotatably connected to both sides of the fifth leading edge link 118, and the bottom side of the fifth leading edge link 110 is connected to the first end of the third leading edge link 103.

As described above, the third leading edge link 103 and the fourth leading edge link 104 are connected by the sixth leading edge motor 116, wherein the sixth leading edge motor 116 is capable of pitching the distal end portion of the wing structure, and specifically, as shown in fig. 41, the sixth leading edge motor 116 includes the sixth leading edge motor rotor 1161 and the sixth leading edge motor stator 1162, wherein the sixth leading edge motor stator 1162 is located in the sixth leading edge motor rotor 1161, the third leading edge link 103 is coaxially connected to a first end of the sixth leading edge motor stator 1162, and a second end of the sixth leading edge motor stator 1162 is coaxially connected to the fourth leading edge link 104.

As described above, the fourth leading edge link 104 and the fifth leading edge link 105 are connected by the seventh leading edge motor 117, specifically, as shown in fig. 42 and 43, the seventh leading edge motor 117 includes a seventh leading edge motor stator 1171 and a seventh leading edge motor rotor 1172, wherein the seventh leading edge motor rotor 1172 is located in the seventh leading edge motor stator 1171, the sixth leading edge connector 119 is provided at the second end portion of the fourth leading edge link 104, the fourth leading edge link 104 is connected to the seventh leading edge motor stator 1171 by the sixth leading edge connector 119, the seventh leading edge connector 120 is provided at the first end portion of the fifth leading edge link 105, the seventh leading edge motor rotor 1172 is connected to the fifth leading edge link 105 by the seventh leading edge connector 120, for example, the seventh leading edge connector 120 is a U-shaped connector, the seventh leading edge motor rotor 1172 is rotatably connected to both side edges of the seventh leading edge connector 120, and the bottom edge of the seventh leading edge connector 120 is connected to the first end portion of the fifth leading edge link 105, the second end of the fifth leading edge link 105 is connected to the leading edge tip flap 8.

Fig. 44 shows a central multi-link structure in the middle of the side wings, which comprises a first central link 201, a second central link 202 and a third central link 203 connected in sequence, wherein the first central link 201 is connected with the support link 10 and the third central edge link 203 is connected with the central end flap 9.

Further, as mentioned above, the first middle link 201 and the support link 10 are connected by the first middle motor 211 and the second middle motor 212, and the first middle motor 211 and the second middle motor 212 cooperate with each other to enable the wing structure to swing vertically along the plane of the main body of the aircraft, and also to enable the wing structure to swing longitudinally along the main body of the aircraft, specifically, as shown in fig. 45 and 46, the first middle motor 211 includes a first middle motor rotor 2111 and a first middle motor stator 2112, the second middle motor 212 includes a second middle motor stator 2111 and a second middle motor rotor 2122, wherein the first middle motor stator 2112 is located in the first middle motor rotor 2111, the second middle motor rotor 2122 is located in the second middle motor stator 2121, and the first middle motor stator 2112 is connected to the support link 10, such that the first intermediate motor stator 2112 and the support link 10 are coaxially disposed, the first intermediate motor rotor 2111 is connected to the second intermediate motor stator 2121 via the first intermediate link 204, such that the first mid-motor stator 2112 and second mid-motor rotor 2122 are oriented perpendicular to each other, a second middle connection 205 is provided at a first end of the first middle link 201, a second middle motor stator 2121 is connected to the first middle link 101 through the second middle connection 205, for example, the first middle link 204 and the second middle link 205 are U-shaped links, the first middle motor rotor 2111 is fixedly disposed between two side edges of the first middle link 204, the bottom edge of the first middle link 204 is connected to a side surface of the second middle motor stator 2121, the second middle motor rotor 2122 is rotatably connected to two side edges of the second middle link 205, and the bottom edge of the second middle link 205 is connected to the first end of the first middle link 201.

As described above, the first and second

middle links

201 and 202 are connected to each other by the third middle motor 213, and, in particular, as shown in fig. 47 and 48, the third middle motor 213 includes a third middle motor stator 2131 and a third middle motor rotor 2132, wherein a third middle motor rotor 2132 is located within a third middle motor stator 2131, a third middle link 206 is provided at a second end of the first middle link 201, the first middle link 201 is connected to a third middle motor stator 2131 through the third middle link 206, a fourth intermediate link 207 is provided at a first end of the second intermediate link 202, the third intermediate motor rotor 2132 is connected to the second intermediate link 202 through the fourth intermediate link 207, for example, the fourth middle link 207 is a U-shaped link, the third middle motor rotor 2132 is rotatably connected to two sides of the fourth middle link 207, and the bottom side of the fourth middle link 207 is connected to the first end of the second middle link 202.

As described above, the second middle link 202 and the third middle link 203 are connected by the fourth middle motor 214, specifically, as shown in fig. 49 and 50, the fourth middle motor 214 includes a fourth middle motor stator 2141 and a fourth middle motor rotor 2142, wherein the fourth middle motor rotor 2142 is located in the fourth middle motor stator 2141, a fifth middle connection member 208 is disposed at the second end of the second middle link 202, the second middle link 202 is connected to the fourth middle motor stator 2141 by the fifth middle connection member 208, a sixth middle connection member 209 is disposed at the first end of the third middle link 203, the fourth middle motor rotor 2142 is connected to the third middle link 203 by the sixth middle connection member 209, for example, the sixth middle connection member 209 is a U-shaped connection member, the fourth middle motor rotor 2142 is rotatably connected between two sides of the sixth middle connection member 209, a bottom side of the sixth middle connection member 209 is connected to the first end of the third middle link 203, the second end of the third middle link 203 is connected to the middle end flap 9.

Referring to fig. 31-33, a plurality of sets of wing panels 4 are sleeved between the front edge multi-link structure 1 and the middle multi-link structure 2, as shown in fig. 51, each set of wing panels includes at least one wing panel unit 5, and adjacent wing panel units 5 are connected by a spherical hinge, for example, by a spherical hinge, so that the adjacent wing panel units 5 can rotate relative to each other; each wing unit 5 is sleeved on the corresponding link mechanism, the number of the wing units 5 is adjusted according to the wing width, for example, the wing units 5 can be sleeved on both the leading edge multi-link structure 1 and the middle multi-link structure 2 at the position close to the support link 10 of the main body of the aircraft and at the position located in the middle of the wing structure, and the wing units 5 can be sleeved only on the leading edge multi-link structure 1 at the position close to the wing tip. Furthermore, the front end and the rear end of the wing unit 5 sleeved on the same multi-link structure are connected through a fixing part, wherein the fixing part can be an elastic fiber wire or a metal wire, so that the wing unit 5 sleeved on the same multi-link structure can synchronously swing based on the corresponding multi-link structure, and the pitching motion of the wing structure is realized.

In order to facilitate the swinging of different link mechanisms, in one embodiment, the wing units 5 sleeved with the leading edge multi-link structure 1 are provided with conical holes 6, so that the wing units 5 sleeved with the leading edge multi-link structure 1 can swing up and down, left and right as passive wings, and the wing units 5 can swing freely along with the swinging of the link mechanisms; the sliding grooves 7 are formed in the fin units 5 sleeved with the middle multi-link structure 2, so that the distance between the multi-link structures can be adjusted to a certain degree, and asynchronous swinging is realized between the front edge multi-link structure 1 and the middle multi-link structure 2, so that the function of controlling the variable pitch angle of the side wing structure is realized; of course, in another embodiment, the wing units 5 are different from the wing units 5 sleeved on the leading edge multi-link structure 1, and the wing units 5 can be sleeved on the motor on the link mechanism as an active driving type wing so as to be driven based on the movement of the motor, for example, as shown in fig. 52, the active driving type wing can be generally arranged at the position of the wing structure close to the wing tip; the vane unit 5 can be sleeved outside the sixth leading edge motor rotor 1161 of the sixth leading edge motor 116, two protrusions are arranged on the surface of the sixth leading edge motor rotor 1161 to limit the position of the vane unit 5, and the vane unit 5 can be sleeved between the two protrusions and limited to move between the two protrusions, so that the position of the vane unit 5 is relatively fixed outside the sixth leading edge motor rotor 1161 and cannot slide towards the framework direction or the wing tip direction of the aircraft body. It should be noted that the size of the vane unit 5 sleeved on different link structures is adjusted according to the wing profile.

Further, considering that the first leading edge link 101 is connected to the support link 10 by the first leading edge motor 111 and the second leading edge motor 112, and the first middle link 101 is connected to the support link 10 by the first middle motor 211 and the second middle motor 212, as shown in fig. 53 to 55, the support link 10 includes a first segment 11, a second segment 12, and a third segment 13, wherein two ends of the first leading edge motor stator 1112 of the first leading edge motor 111 are coaxially connected to the first segment 11 and the second segment 12, respectively, and two ends of the first middle motor stator 2112 of the first middle motor 211 are coaxially connected to the second segment 12 and the third segment 13, respectively.

By adopting the wing structure of the embodiment, when the first front edge motor 111, the third front edge motor 113, the fifth front edge motor 115 and the seventh front edge motor 117 are adopted to rotate, the corresponding middle motors rotate in the same direction, so that the corresponding connecting rods swing up and down, and the wing structure swings up and down; when the second front edge motor 112 and the second middle motor 212 synchronously swing, the front-back swing of the wing structure is realized; when the fourth leading edge motor 114 is used for rotation, the end portion of the wing structure is twisted.

In the following third embodiment, an embodiment in which the side wing structure is realized by one multi-link structure is described in detail.

Fig. 56, 57 and 58 each show a schematic structural view of a wing structure with a multi-link structure, in which a multi-link structure is arranged at the wing leading edge extending from the vehicle body in the direction of the wing tip, as in the leading edge multi-link structure 1, and the first end of the multi-link structure is connected to a support link 10 located on the vehicle body, and the direction of the support link 10 coincides with the depth direction of the vehicle body. The multi-link mechanism moves independently according to control commands to better simulate the movement of a living being, wings are sleeved on the multi-link mechanism and consist of wing units, wherein the wing units can be made of rigid materials, and preferably, the wing units close to the tail part of the aircraft can be made of flexible materials completely or semi-rigid and semi-flexible materials, so that the wing units close to the tail part of the aircraft have the capability of passive flexible deformation. The wing structure in the disclosed embodiments features a wide range of wing variations in both the chord-wise and span-wise directions, the ability to have a wide range of wing profiles, a wide range of pitch angles, and the ability to have a twist in the span-wise direction at the distal portion of the wing structure away from the aircraft body, a wide range of vertical oscillation in the plane of the aircraft body, and a wide range of longitudinal oscillation in the aircraft body.

FIG. 59 shows a leading edge multi-link structure at the leading edge of the wing, which includes a first leading edge link 101, a second leading edge link 102, a third leading edge link 103, a fourth leading edge link 104, and a fifth leading edge link 105 connected in series, where the first leading edge link 101 is connected to the support link 10 and the fifth leading edge link 105 is connected to the leading edge tip flap 8.

Further, as mentioned above, the first leading edge link 101 is connected to the support link 10 through the first leading edge motor 111 and the second leading edge motor 112, and the first leading edge motor 111 and the second leading edge motor 112 cooperate with each other to enable the wing structure to swing vertically along the plane of the aircraft body, and also enable the wing structure to swing longitudinally along the aircraft body, specifically, as shown in fig. 60 and 61, the first leading edge motor 111 includes a first leading edge motor rotor 1111 and a first leading edge motor stator 1112, the second leading edge motor 112 includes a second leading edge motor stator 1121 and a second leading edge motor rotor 1122, wherein the first leading edge motor stator 1112 is located in the first leading edge motor rotor 1111, the second leading edge motor rotor 1122 is located in the second leading edge motor stator 1121, and the first leading edge motor stator 1112 is connected to the support link 10, such that the first leading edge motor stator 1112 and the support link 10 are coaxially arranged, the first leading edge motor rotor 1111 is connected to the second leading edge motor stator 1121 via the first leading edge connection 106, such that the first leading edge motor stator 1112 and the second leading edge motor rotor 1122 are oriented perpendicular to each other, a second leading edge connecting piece 107 is arranged at the first end of the first leading edge connecting rod 101, a second leading edge motor stator 1121 is connected with the first leading edge connecting rod 101 through the second leading edge connecting piece 107, for example, the first front edge connecting member 106 and the second front edge connecting member 107 may be U-shaped connecting members, the first front edge motor rotor 1111 is fixedly disposed between two side edges of the first front edge connecting member 106, a bottom edge of the first front edge connecting member 106 is connected to a side surface of the second front edge motor stator 1121, the second front edge motor rotor 1122 is rotatably connected to two side edges of the second front edge connecting member 107, and a bottom edge of the second front edge connecting member 107 is connected to the first end portion of the first front edge connecting rod 101.

As described above, the connection between the first leading edge link 101 and the second leading edge link 102 is made by the third leading edge motor 113, and, specifically, as shown in fig. 62 and 63, third leading edge motor 113 includes a third leading edge motor stator 1131 and a third leading edge motor rotor 1132, wherein a third leading edge motor rotor 1132 is located within a third leading edge motor stator 1131, a third leading edge connector 108 is provided at the second end of the first leading edge link 101, the first leading edge link 101 is connected to a third leading edge motor stator 1131 via the third leading edge connector 108, a fourth leading edge connector 109 is provided at a first end of the second leading edge link 102, a third leading edge motor rotor 1132 is connected to the second leading edge link 102 via the fourth leading edge connector 109, for example, the fourth leading edge link 109 is a U-shaped link, the third leading edge motor rotor 1132 is rotatably connected to two sides of the fourth leading edge link 109, and the bottom of the fourth leading edge link 109 is connected to the first end of the second leading edge link 102.

As described above, the second leading edge link 102 and the third leading edge link 103 are connected by the fourth leading edge motor 114 and the fifth leading edge motor 115, wherein the fourth leading edge motor 114 and the fifth leading edge motor 115 cooperate with each other to enable the distal portion of the wing structure distal from the aircraft body to swing vertically along the wing body plane at the proximal torso end of the wing, and also to enable the distal portion of the wing structure distal from the aircraft body to have a twisting swing capability in a wingspan direction. Specifically, as shown in fig. 64 and 65, fourth leading edge motor 114 includes a fourth leading edge motor stator 1141 and a fourth leading edge motor rotor 1142, and fifth leading edge motor 115 includes a fifth leading edge motor stator 1151 and a fifth leading edge motor rotor 1152, wherein fourth leading edge motor rotor 1142 is located in fourth leading edge motor stator 1141, fifth leading edge motor rotor 1152 is located in fifth leading edge motor stator 1151, second leading edge link 102 is coaxially connected to fourth leading edge motor rotor 1142, fourth leading edge motor stator 1141 and fifth leading edge motor stator 1151 are connected perpendicularly to each other, fifth leading edge connector 118 is provided at a first end of third leading edge link 103, and fifth leading edge motor 1152 is connected to third leading edge link 103 via fifth leading edge connector 118, so that fifth leading edge motor 115 can cause the wing structure to perform a span-wise twisting action, e.g., fifth leading edge connector 118 is a U-shaped connector, the fifth leading edge motor rotor 1152 is rotatably connected to both sides of the fifth leading edge link 118, and the bottom side of the fifth leading edge link 110 is connected to the first end of the third leading edge link 103.

As described above, the third leading edge link 103 and the fourth leading edge link 104 are connected by the sixth leading edge motor 116, wherein the sixth leading edge motor 116 is capable of pitching the distal end portion of the wing structure, and specifically, as shown in fig. 66, the sixth leading edge motor 116 includes the sixth leading edge motor rotor 1161 and the sixth leading edge motor stator 1162, wherein the sixth leading edge motor stator 1162 is located in the sixth leading edge motor rotor 1161, the third leading edge link 103 is coaxially connected to a first end of the sixth leading edge motor stator 1162, and a second end of the sixth leading edge motor stator 1162 is coaxially connected to the fourth leading edge link 104.

As described above, the fourth leading edge link 104 and the fifth leading edge link 105 are connected by the seventh leading edge motor 117, specifically, as shown in fig. 67 and 68, the seventh leading edge motor 117 includes a seventh leading edge motor stator 1171 and a seventh leading edge motor rotor 1172, wherein the seventh leading edge motor rotor 1172 is located in the seventh leading edge motor stator 1171, the sixth leading edge connector 119 is provided at the second end portion of the fourth leading edge link 104, the fourth leading edge link 104 is connected to the seventh leading edge motor stator 1171 by the sixth leading edge connector 119, the seventh leading edge connector 120 is provided at the first end portion of the fifth leading edge link 105, the seventh leading edge motor rotor 1172 is connected to the fifth leading edge link 105 by the seventh leading edge connector 120, for example, the seventh leading edge connector 120 is a U-shaped connector, the seventh leading edge motor rotor 1172 is rotatably connected to both side edges of the seventh leading edge connector 120, and the bottom edge of the seventh leading edge connector 120 is connected to the first end portion of the fifth leading edge link 105, the second end of the fifth leading edge link 105 is connected to the leading edge tip vane 8.

Referring to fig. 56-58, a plurality of sets of wing panels 4 are sleeved on the front edge multi-link structure 1, as shown in fig. 57, each set of wing panels 4 includes one wing panel unit 5, and the number of the wing panel units 5 is adjusted according to the wing width; further, the front end and the rear end of the wing unit 5 sleeved on the front edge multi-link structure 1 are connected through a fixing part, and the fixing part can be an elastic fiber wire or a metal wire, so that the wing unit 5 sleeved on the same multi-link structure can synchronously swing based on the corresponding multi-link structure, and the pitching motion of the wing structure is realized.

In order to facilitate the swinging of different link mechanisms, in one embodiment, as shown in fig. 69, a conical hole 6 is provided on the vane unit 5 sleeved with the leading edge multi-link structure 1, so that the vane unit 5 sleeved with the leading edge multi-link structure 1 can swing up and down, left and right as a passive vane, and such vane unit 5 can swing freely along with the swinging of the link mechanisms; of course, in another embodiment, the wing units 5 are different from the wing units 5 sleeved on the leading edge multi-link structure 1, and the wing units 5 can be sleeved on the motor on the link mechanism as an active driving type wing so as to be driven based on the movement of the motor, for example, as shown in fig. 70, the active driving type wing can be generally arranged at the wing tip position of the wing structure; the vane unit 5 can be sleeved outside the sixth leading edge motor rotor 1161 of the sixth leading edge motor 116, two protrusions are arranged on the surface of the sixth leading edge motor rotor 1161 to limit the position of the vane unit 5, and the vane unit 5 can be sleeved between the two protrusions and limited to move between the two protrusions, so that the position of the vane unit 5 is relatively fixed outside the sixth leading edge motor rotor 1161 and cannot slide towards the framework direction or the wing tip direction of the aircraft body. It should be noted that the size of the vane units 5 sleeved on different link structures is adjusted along with the wing profile.

Further, considering the connection between the first leading edge link 101 and the support link 10 by the first leading edge motor 111 and the second leading edge motor 112, as shown in fig. 71 and 72, the support link 10 includes a first segment 11 and a second segment 12, wherein both ends of the first leading edge motor stator 1112 of the first leading edge motor 111 are coaxially connected with the first segment 11 and the second segment 12, respectively.

By adopting the wing structure of the embodiment, when the first front edge motor 111, the third front edge motor 113, the fifth front edge motor 115 and the seventh front edge motor 117 are adopted to rotate, the corresponding connecting rods swing up and down, so that the wing structure swings up and down; when the fourth leading edge motor 114 and the sixth leading edge motor 116 are adopted to synchronously swing, the pitching motion of the side wing structure is realized; when the fourth leading edge motor 114 is used for rotation, the end portion of the wing structure is twisted.

The above embodiments are only exemplary embodiments of the present disclosure, and are not intended to limit the present disclosure, the scope of which is defined by the claims. Various modifications and equivalents of the disclosure herein disclosed may occur to persons skilled in the art and are intended to be included within the spirit and scope of the disclosure.

Claims

1. A wing structure for a vehicle, characterized by comprising a plurality of multi-link structures each extending from a vehicle body to a wing tip, the plurality of multi-link structures being arranged in order from a head to a tail of the vehicle body and decreasing in total length,

the first end part of a first connecting rod of the multi-connecting-rod structure is connected with a supporting connecting rod on the main body of the aircraft through a first motor and a second motor, a stator of the first motor is coaxially connected with the supporting connecting rod, a rotor of the first motor is connected with a stator of the second motor through a first connecting piece, so that the directions of the stator of the first motor and the rotor of the second motor are mutually vertical, and the stator of the second motor is connected with the first connecting rod through a second connecting piece, so that the side wing structure can swing vertically along the plane where the main body of the aircraft is located, and the side wing structure can swing longitudinally along the main body of the aircraft;

the multiple multi-link structures are configured to respectively perform independent movement according to a control command, so that the multiple multi-link structures can swing asynchronously, and the pitching angle of the side wing structure can be changed;

each multi-connecting-rod structure comprises a plurality of connecting rods which are sequentially connected from the main body of the aircraft to the wing tip direction, and adjacent connecting rods are connected through a motor;

the connecting rod and the motor are mutually connected, so that the following change or movement of the side wing structure can be realized:

the airfoil variable, distal portion is twistable in a span-wise direction.

2. The wing structure according to claim 1, characterized in that the support link coincides with the length direction of the vehicle body.

3. The wing structure of claim 1, wherein the second end of the multi-link structure is connected to a terminal flap.

4. The wing structure of claim 1, wherein a plurality of sets of wings are sleeved on the multi-link structure, each set of wings including at least one wing unit.

5. The wing structure of claim 4, wherein the number of wing units in each set of wings is less than or equal to the number of multi-link structures.

6. The wing structure of claim 4, wherein adjacent wing units in the same set of wings are connected by a ball hinge.

7. The wing structure of claim 4, wherein the front ends or the rear ends of all the wing units sleeved on the same multi-link structure are connected by a fixing part.

8. The wing structure of claim 7, wherein the anchoring portion is an elastic fiber or wire.

9. The wing structure according to claim 4, characterized in that the wing units are provided with conical holes or sliding grooves.

10. An aircraft employing the wing structure of any of claims 1-9.