CN216660266U

CN216660266U - Aircraft arm self-locking connecting rod mechanism of aircraft and aircraft

Info

Publication number: CN216660266U
Application number: CN202123306108.8U
Authority: CN
Inventors: 黄瑞; 符卫平; 王伟; 汪杰; 李晓亮; 花磊
Original assignee: Guangdong Huitian Aerospace Technology Co Ltd
Current assignee: Guangdong Huitian Aerospace Technology Co Ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2022-06-03
Anticipated expiration: 2031-12-24

Abstract

The application relates to a horn self-locking link mechanism of an aircraft and the aircraft. The horn self-locking link mechanism comprises two groups of link mechanisms, wherein the two groups of link mechanisms are respectively used for connecting two horns of the aircraft to two sides of a fuselage of the aircraft; the two groups of link mechanisms are connected through a driving device, and the driving device is used for driving the two groups of link mechanisms to operate; wherein, still including respectively with two sets of link mechanism matched with limit structure, work as two sets of link mechanism move to corresponding to two during the expansion or fold condition of horn, can pass through limit structure carries on spacingly, so that two the horn is locked when expanding or fold condition. The scheme that this application provided, when the horn is folding or expand, can form stable auto-lock with limit structure's cooperation respectively through two sets of link mechanism, promoted the stability of horn when folding and expansion state.

Description

Aircraft arm self-locking connecting rod mechanism of aircraft and aircraft

Technical Field

The application relates to the technical field of aircrafts, in particular to a horn self-locking connecting rod mechanism of an aircraft and the aircraft

Background

In order to enable the aircraft to be switched between the land-based driving state and the air-based flight state, the arm of the aircraft needs to be foldable and unfoldable.

In the related art, an unstable phenomenon may occur when the horn of the aircraft is unfolded or folded, for example, the horn may swing horizontally, in order to avoid the unstable phenomenon, an independent locking mechanism generally needs to be configured to lock the horn, but in the related art, an independent power source needs to be configured for the locking mechanism, which not only has poor stability, but also leads to the increase of the structural complexity of the aircraft, and is not beneficial to the light weight of the aircraft.

SUMMERY OF THE UTILITY MODEL

For solving or partly solving the problem that exists among the correlation technique, this application provides horn auto-lock link mechanism and aircraft of aircraft, when the horn is folding or expand, can form stable auto-lock with limit structure's cooperation respectively through two sets of link mechanisms, promoted the horn stability when folding and expansion state, and need not to dispose independent power supply, do benefit to the lightweight of aircraft.

This application first aspect provides a horn auto-lock link mechanism of aircraft, includes:

the two groups of link mechanisms are respectively used for connecting two arms of the aircraft to two sides of a fuselage of the aircraft; the two groups of link mechanisms are connected through a driving device, and the driving device is used for driving the two groups of link mechanisms to operate;

wherein, still including respectively with two sets of link mechanism matched with limit structure, work as two sets of link mechanism move to corresponding to two during the expansion or fold condition of horn, can pass through limit structure carries on spacingly, so that two the horn is locked when expanding or fold condition.

In one embodiment, two of the sets of linkages are configured as four-bar linkages.

In one embodiment, the four-bar linkage comprises a first link, a second link, a third link, and a fourth link;

the first connecting piece is provided with a horn joint which is used for being fixedly connected with a horn of an aircraft; the fourth connecting piece is provided with a rack, and the rack is used for being fixedly connected with a fuselage of the aircraft;

two ends of the driving device are respectively connected with the third connecting pieces of the two groups of connecting rod mechanisms in a rotating manner and are used for driving the third connecting pieces to rotate;

when the third connecting piece is in limit fit with the limit structure, the running state of the two groups of connecting rod mechanisms after the machine arm is unfolded or folded can be locked.

In one embodiment, the stop structure comprises a first stop portion and a second stop portion;

when the third connecting piece is in limit fit with the first limiting part, the third connecting piece is used for locking the motion state of the two groups of connecting rod mechanisms after the machine arm is unfolded;

and when the third connecting piece is in limit fit with the second limiting part, the third connecting piece is used for locking the running state of the two groups of connecting rod mechanisms after the machine arm is folded.

In one embodiment, the restraining structure is fixedly arranged relative to a fuselage of the aircraft; or the like, or, alternatively,

the limiting structure is fixedly arranged on the fourth connecting piece.

In one embodiment, the stop structure is integral with the fourth connector;

the first limiting part comprises a first protrusion extending from the fourth connecting piece, and the second limiting part comprises a second protrusion extending from the fourth connecting piece;

the first projection and the second projection are used for limiting the steering of the third connecting piece when the machine arm is unfolded or folded.

In one embodiment, the first connecting piece, the second connecting piece, the third connecting piece and the fourth connecting piece are rotatably connected in an inner-outer nesting mode, and the nesting positions are in surface contact fit.

In one embodiment, the drive means comprises a servo-electric cylinder with a holding brake;

the telescopic rod of the servo electric cylinder is connected with the third connecting piece in a rotating mode, and when the telescopic rod runs, the two groups of connecting rod mechanisms can run reversely and synchronously.

In one embodiment, the two sets of linkage arrangements are arranged symmetrically about a radial centre line of the drive means.

A second aspect of the present application provides an aircraft comprising an arm self-locking linkage as described above.

The technical scheme provided by the application can comprise the following beneficial effects:

the horn self-locking link mechanism of the aircraft provided by the embodiment of the application comprises two groups of link mechanisms, wherein the two groups of link mechanisms are respectively used for connecting two horns of the aircraft to a fuselage of the aircraft; the two groups of link mechanisms are connected through a driving device, and the driving device is used for driving the two groups of link mechanisms to operate; wherein, still including respectively with two sets of link mechanism matched with limit structure, when two sets of link mechanism move to the expansion or fold condition that corresponds to two horn, can carry on spacingly through limit structure to make the horn be locked when expansion or fold condition. After the arrangement, when the horn is folded or unfolded, the self-locking can be stably formed by matching the two groups of link mechanisms with the limiting structures respectively, the stability of the horn in the folding and unfolding states is improved, an independent power source does not need to be configured, and the lightweight of an aircraft is facilitated.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

Fig. 1 is a schematic perspective view of a self-locking linkage mechanism of a boom according to an embodiment of the present disclosure;

FIG. 2 is an exploded view of the self-locking linkage of the arm of FIG. 1;

fig. 3 is a schematic structural view of a self-locking link mechanism of a horn corresponding to the folding of the horn according to the embodiment of the present application;

FIG. 4 is a schematic structural view of the self-locking linkage mechanism of the horn corresponding to the expanded horn according to the embodiment of the present application;

FIG. 5 is a schematic structural diagram of a first link of the self-locking linkage mechanism of the arm according to the embodiment of the present application;

FIG. 6 is a schematic structural diagram of a second link of the self-locking linkage mechanism of the arm according to the embodiment of the present application;

FIG. 7 is a schematic structural diagram of a third link in the self-locking linkage of the boom according to the embodiment of the present application;

FIG. 8 is a schematic structural view of another perspective of the first link in the self-locking linkage of the arm according to the embodiment of the present application;

fig. 9 is a schematic structural view of a fourth link in the self-locking link mechanism of the arm according to the embodiment of the present application;

FIG. 10 is a schematic structural view of another perspective of the first link in the self-locking linkage of the arm according to the embodiment of the present application;

FIG. 11 is a schematic structural view of a self-locking linkage mechanism of a horn corresponding to the deployment of the horn according to an embodiment of the present disclosure;

FIG. 12 is a cross-sectional view taken at A-A of FIG. 11;

fig. 13 is a cross-sectional view at B-B in fig. 11.

Reference numerals are as follows: a link mechanism A, B; a first connecting member 1; a second connecting member 2; a third connecting member 3; a fourth connecting member 4; a servo electric cylinder 13; a boom joint 11; a first stopper portion 48; a second stopper 47; rotating

shafts

51, 52, 53, 55; the connecting

grooves

34, 49; a bushing 54; a positioning member 55; and a fastener 56.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections as well as removable connections or combinations; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

To the above problem, the embodiment of the application provides a horn auto-lock link mechanism of aircraft, when the horn is folding or expand, can form stably auto-lock with limit structure's cooperation respectively through two sets of link mechanisms, has promoted the stability of horn when folding and expansion state, and need not to dispose independent power supply, does benefit to the lightweight of aircraft.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 and 2, the arm self-locking link mechanism of the aircraft provided in the embodiment of the present application includes two sets of link mechanisms A, B, where the two sets of link mechanisms A, B are respectively used to connect two arms of the aircraft to a fuselage of the aircraft; the two groups of link mechanisms A, B are connected through a driving device, and the driving device is used for driving the two groups of link mechanisms A, B to operate; wherein, still include respectively with two sets of link mechanism A, B matched with limit structure, when two sets of link mechanism A, B moved to the expansion or folded state that corresponds to two horn, can carry on spacingly through limit structure to make the horn be locked when expansion or folded state. After the arrangement, when the horn is folded or unfolded, the stable self-locking can be formed by the matching of the two groups of link mechanisms A, B and the limiting structures, the stability of the horn in the folding and unfolding states is improved, an independent power source is not required to be configured, and the light weight of the aircraft is facilitated.

The aircraft of the embodiment can be a flying automobile, the arm of the flying automobile can be folded and unfolded along the horizontal direction, and after the arm is unfolded, the flying automobile can fly in the air; after being folded, the vehicle can run on the land.

Because hovercar needs to be switched over each other between land driving state and air flight state, and not fixed connection between two horn and hovercar's automobile body, consequently, through with two sets of link mechanism A, B respectively with the spacing cooperation of corresponding limit structure, and then can make the aircraft realize the auto-lock when expandeing and fold condition, avoided the horn to expand or the unstable phenomenon such as the swing or rock along the horizontal direction that appears after folding.

In some embodiments, the two sets of linkages A, B can be configured as a planar four-bar linkage that enables the two arms to be locked in a linear orientation when the two sets of linkages A, B are operated to correspond to the deployed state of the two arms; when the two sets of link mechanisms A, B are operated to the folded state corresponding to the two arms, the two arms are locked in directions parallel to each other. The same straight direction may be a width direction of the vehicle body, and the parallel directions may be longitudinal directions of the vehicle body.

Referring to fig. 2, 3 and 4, in some embodiments, the planar four-bar linkage includes a first connecting member 1, a second connecting member 2, a third connecting member 3 and a fourth connecting member 4 which are rotatably connected, respectively; two ends of the driving device are respectively connected with the third connecting pieces 3 of the two groups of link mechanisms A, B in a rotating manner and are used for driving the third connecting pieces 3 to rotate; the first connecting piece 1 is provided with a horn joint 11, and the horn joint 11 is used for being fixedly connected with a horn of an aircraft; and a rack is arranged on the fourth connecting piece 4 and is used for being fixedly connected with the body of the aircraft.

When the driving device moves, the third connecting piece 3 of the two groups of link mechanisms A, B can be driven to rotate, and then the machine arm is driven to rotate along the horizontal direction, so that the machine arm is unfolded or folded.

In this embodiment, the two sets of linkages A, B are in limit fit with the limit structure through the third connectors 3, respectively, and are used to lock the operation state of the two sets of linkages A, B when the arm is unfolded or folded.

Wherein, the limiting structure comprises a first limiting part 48 and a second limiting part 47; when the third connecting piece 3 is in limit fit with the first limit part 48, the motion state of the two groups of link mechanisms A, B after the machine arm is unfolded is locked; when the third connecting member 3 is in limit fit with the second limit portion 47, the second connecting member is used for locking the two sets of link mechanisms A, B in the operating state after the machine arm is folded.

In this embodiment, the stop structure is fixedly arranged relative to the fuselage of the aircraft, or the stop structure may be fixedly arranged in the fourth connecting element 4, for example, may be formed integrally with the fourth connecting element 4.

In one implementation, the first limiting portion 48 includes a first protrusion extending from the fourth connecting member 4, and the second limiting portion 47 includes a second protrusion extending from the fourth connecting member 4; the third connecting piece 3 can be abutted against the first bulge and the second bulge in different rotating directions, and further the steering of the third connecting piece 3 is locked when the machine arm is unfolded or folded.

In this embodiment, the drive means comprise an electric servo cylinder with a holding brake, the telescopic rod of which is rotatably connected to the third connecting member 3, for example by means of a joint bearing. When the telescopic rod runs, the two groups of link mechanisms A, B can run synchronously and reversely. Wherein, the holding brake can lock the operating state of the telescopic rod.

In some embodiments, the first connecting member 1, the second connecting member 2, the third connecting member 3 and the fourth connecting member 4 are rotatably connected in an inner-outer nesting manner, and are configured to be in surface contact fit at the nesting position.

In this embodiment, the first connecting member is provided with two connecting

holes

12, 13; the second connecting piece is provided with two connecting

holes

21 and 22; the third connecting piece is provided with three connecting

holes

31, 32 and 33; the fourth link is provided with two connecting

holes

43, 44. The connecting hole 12 of the first connecting piece is aligned with the connecting hole 22 of the second connecting piece, the connecting hole 13 of the first connecting piece is aligned with the connecting hole 43 of the fourth connecting piece, the connecting hole 21 of the second connecting piece is aligned with the connecting hole 33 of the third connecting piece, the connecting hole 31 of the third connecting piece is rotatably connected with the joint bearing of the telescopic rod, and the connecting hole 21 of the third connecting piece is aligned with the connecting hole 44 of the fourth connecting piece. In this embodiment, the connection holes after alignment are all connected through the rotating shaft.

Referring to fig. 3, 4, 9 to 13, in some embodiments, the fourth connecting element 4 is rotatably engaged with the first connecting element 1 in an inside-outside nesting manner, for example, the fourth connecting element 4 includes a U-shaped connecting groove, one of the rotating connecting portions of the second connecting element 2 is embedded in the connecting groove 49, the connecting holes 43 are formed on two sides of the connecting groove, and the first connecting element 1 is connected with the fourth connecting element 4 through a rotating shaft passing through the connecting holes 43, the rotating shaft including but not limited to a hinge pin. In some embodiments, a positioning member 55 may be provided to be positioned in cooperation with the rotating shaft, and the positioning member 55 may be, for example, a spring pin. The outer wall of the first connecting piece 1 is in surface contact fit with the inner wall of the connecting groove, so that the fourth connecting piece 4 limits the rotation of the first connecting piece 1 to be along the same plane, and the plane corresponds to the rotation plane of the machine arm which is unfolded or folded. In one implementation, a bushing 54 may be sleeved over the hinge pin to improve rotational stability and reduce wear.

Referring to fig. 3, 4, 7, 8, 11 to 13, in some embodiments, the third connecting element 3 is rotatably engaged with the fourth connecting element 4 in an inside-outside nesting manner, for example, the third connecting element 3 is provided with a U-shaped connecting groove 34, at least a portion of the fourth connecting element 4 is embedded in the connecting groove, two sides of the connecting groove are provided with connecting holes 44, and the fourth connecting element 4 is rotatably connected with the third connecting element 3 through a rotating shaft 53 inserted in the connecting holes 44. The rotating shaft comprises but is not limited to a bolt, the outer peripheral surface of the bolt is in contact fit with the inner peripheral surface of the connecting hole, and the bolt can be sleeved with a lining to improve the stability of rotating connection and reduce abrasion. Wherein, one end of the bolt is fixedly provided with a fastener 56, such as a nut, the nut abuts against the outer wall of one side of the third connecting piece 3, and the other end of the bolt is in threaded fit with the nut on the other side of the third connecting piece 3. In one implementation, the bolt and the third connecting member 3 may be mutually limited for preventing the bolt from rotating.

Referring to fig. 3, 4, 6, 11 to 13, in some embodiments, both ends of the second connecting member 2 are rotatably engaged with the third connecting member 3 and the first connecting member 1 respectively in an inside-outside nesting manner. For example, one end of the second connecting member 2 is provided with a U-shaped connecting groove, the first connecting member 1 is embedded into the connecting groove, the connecting holes 22 are formed in two sides of the connecting groove, and the first connecting member 1 is connected with the second connecting member 2 through a rotating shaft penetrating through the connecting holes 22. The other end of the second connecting piece 2 is embedded in the connecting groove 34 of the third connecting piece 3 and is rotatably connected through the rotating shaft 21 penetrating in the connecting hole.

In this embodiment, since a revolute pair is formed between the first connecting member 1, the second connecting member 2, the third connecting member 3 and the fourth connecting member 4, and the fourth connecting member 4 is fixed to the body, when the third connecting member 3 is driven, the third connecting member 3 can be driven by the second connecting member 2 to move, and the arm can be driven to unfold or fold.

Referring to fig. 3, in some embodiments, the two sets of linkage mechanisms A, B are arranged symmetrically about the radial centerline L of the drive device.

The working principle of the mechanical arm self-locking connecting rod mechanism of the embodiment is as follows:

FIG. 3 is a schematic structural diagram of a self-locking linkage mechanism of a horn corresponding to the folding of the horn according to an embodiment of the present application; fig. 4 is a schematic structural view of the self-locking link mechanism of the horn corresponding to the unfolding of the horn according to the embodiment of the present application.

Referring to fig. 3 and 4, when the aircraft is switched from the folded state to the flying state, the holding brake of the servo electric cylinder 13 is opened, the telescopic rod of the servo electric cylinder 13 extends out, the third connecting member 3 of the link mechanism a rotates clockwise around the connecting hole of the fourth connecting member 4, when the telescopic rod of the servo electric cylinder 13 extends out by a certain length (corresponding to the unfolded state of the horn), the third connecting member 3 is limited by the first limiting portion 48, the clockwise rotation of the third connecting member 3 is limited, and at the same time, because the other end of the servo electric cylinder 13 is rotationally connected with the third connecting member 3 of the link mechanism B, the link mechanisms B operate synchronously, so that the third connecting member 3 of the link mechanism B cannot rotate counterclockwise, after the limitation, the holding brake of the servo electric cylinder 13 is closed, and the two sets of link mechanisms A, B form an operation dead point at the respective first limiting portions 48, the arm joint 11 on the first connecting member 1 cannot rotate due to the limiting action of the operating dead point, and the two arms are locked in the unfolded state (the unfolded state is shown in fig. 4).

When unexpected outage appears in servo electronic jar 13, because the locking effect of the holding brake of servo electronic jar 13 self-band, servo electronic jar 13's telescopic link can't stretch out or retract, if vibration etc. cause link mechanism A's third connecting piece 3 anticlockwise rotation (link mechanism B's third connecting piece 3 clockwise) to rotate), because two sets of link mechanism A, B can reverse synchronous operation, therefore, two sets of link mechanism A, B's third connecting piece 3 can be simultaneously by first spacing portion 48 locking, can keep away the rotation trend of third connecting piece 3 that leads to because of the vibration is stopped like this, make the whole of two sets of link mechanism A, B components form stable auto-lock, and then can prevent that two horn from taking place horizontal direction rotation or swing when the expansion state, the stability of horn when the expansion state has been promoted.

Referring to fig. 3 and 4, when the aircraft is switched from the flight state to the travel state, the holding brake of the servo electric cylinder 13 is opened, the telescopic rod of the servo electric cylinder 13 retracts, the third connecting member 3 of the link mechanism a rotates counterclockwise around the connecting hole of the fourth connecting member 4, when the telescopic rod of the servo electric cylinder 13 retracts for a certain length (corresponding to the folded state of the boom), the third connecting member 3 is limited by the second limiting portion 47, and the third connecting member 3 is limited to continue rotating counterclockwise, and meanwhile, since the other end of the servo electric cylinder 13 is rotatably connected to the third connecting member 3 of the link mechanism B, the link mechanism B operates in the same step, so that the third connecting member 3 of the link mechanism B cannot rotate clockwise, at this time, the holding brake of the servo electric cylinder 13 is closed, and two sets of link mechanisms A, B form a dead point at the second limiting portion 47, the arm joint 11 on the first connecting piece 1 can not rotate due to the limiting action of the operation dead point, and the two arms are further ensured to be locked when being folded.

When unexpected outage appears in servo electronic jar 13, because the holding brake locking effect of servo electronic jar 13 from the area, servo electronic jar 13's telescopic link can not stretch out or retract, if reasons such as vibration lead to link mechanism A's third connecting piece 3 clockwise (link mechanism B's third connecting piece 3 anticlockwise), because two sets of link mechanism A, B can reverse synchronous operation, therefore, two sets of link mechanism A, B's third connecting piece 3 can be in step by the spacing portion 47 locking of second, can keep away the rotation trend of third connecting piece 3 that leads to because of the vibration is stopped like this, make the whole of two sets of link mechanism A, B components form stable auto-lock, and then can prevent that two horn from taking place horizontal direction rotation or swing when fold condition, the stability of horn when fold condition has been promoted.

The horn self-locking link mechanism provided by the application is introduced above, and correspondingly, the application also provides an aircraft and corresponding embodiments. The aircraft comprises the arm self-locking linkage mechanism.

According to the aircraft provided by the embodiment of the application, the horn self-locking link mechanism comprises two groups of link mechanisms A, B, two horns of the aircraft are respectively connected with the fuselage of the aircraft through two groups of link mechanisms A, B, the two groups of link mechanisms A, B are connected through a driving device, and the driving device is used for driving the two groups of link mechanisms A, B to operate; the two sets of linkage mechanisms A, B are connected to each other by a connecting rod, and when the two sets of linkage mechanisms A, B are moved to the unfolded or folded state corresponding to the two arms, the two sets of linkage mechanisms can be used for limiting the position of the two arms, so that the two arms can be locked when the two arms are unfolded or folded. After the arrangement, when the arms are folded or unfolded, stable self-locking can be formed through the matching of the two groups of link mechanisms A, B and the limiting structures, the stability of the two arms in the folding and unfolding states is improved, an independent power source does not need to be configured, and the light weight of the aircraft is facilitated.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An arm self-locking linkage mechanism of an aircraft, comprising:

2. The horn self-locking linkage of claim 1, wherein:

two sets of said linkages are configured as four bar linkages.

3. The horn self-locking linkage of claim 2, wherein:

the four-bar linkage comprises a first connecting piece, a second connecting piece, a third connecting piece and a fourth connecting piece;

4. The horn self-locking linkage of claim 3 wherein:

the limiting structure comprises a first limiting part and a second limiting part;

5. The horn self-locking linkage of claim 3 wherein:

the limiting structure is fixedly arranged relative to the fuselage of the aircraft; or the like, or a combination thereof,

the limiting structure is fixedly arranged on the fourth connecting piece.

6. The horn self-locking linkage of claim 4 wherein:

the limiting structure and the fourth connecting piece are integrated into a whole;

7. The horn self-locking linkage of claim 3 wherein:

the first connecting piece, the second connecting piece, the third connecting piece and the fourth connecting piece are rotatably connected in an inner-outer nesting mode, and the nesting positions are in surface contact fit.

8. A horn self-locking linkage according to any one of claims 3 to 7 wherein:

the driving device comprises a servo electric cylinder with a holding brake;

9. The horn self-locking linkage of any one of claims 1-7 wherein:

the two groups of link mechanisms are symmetrically arranged with the radial central line of the driving device.

10. An aircraft comprising an arm self-locking linkage according to any of claims 1-9.