Variant head cone of metamorphic mechanism with coupling chain

Abstract

The present invention discloses a variant nose cone of a cell-metamorphosis mechanism containing a coupling chain. The shell assembly includes four shells; a telescopic chain is installed on the second to fourth shells to constrain the telescopic deformation of the second to fourth shells. When the telescopic chain appears in a singular position during the telescopic deformation of the shell assembly, the telescopic chain can self-lock and unlock through its own local degree of freedom; a telescopic drive chain is arranged on the second to third shells; a bending chain is installed on the first to second shells to constrain the bending deformation of the first to second shells. When the bending chain appears in a singular position during the bending deformation of the shell assembly, the bending chain can self-lock and unlock through its own local degree of freedom; a bending drive chain is arranged on the first to second shells. The present invention can perform telescopic and bending deformation, can improve the overall load-bearing capacity of the variant nose cone, and is conducive to the variant nose cone reliably adapting to different environments.

Description

Technical Field

[0001] The present invention relates to the technical field of aerospace vehicles, and in particular to a variant nose cone of a metamorphic mechanism containing a coupling chain. Background Art

[0002] An aerospace vehicle is one that can fly both in the atmosphere at altitudes below 100 km and in space above 100 km. From takeoff to flight in the atmosphere, through the atmosphere into space, and finally re-entering the atmosphere, the flight speed and atmospheric environment are constantly changing. To improve the flight capability and performance of an aerospace vehicle under varying conditions, it is necessary to adapt its structure to changing flight conditions to achieve the optimal flight state under those conditions. This is where the concept of a "morphing vehicle" comes in. The morphing nose cone is designed to address the problem of adapting to the various aerodynamic environments encountered by aerospace vehicles.

[0003] The existing variant nose cone requires an additional locking structure to be designed, and the load is carried by the locking structure. The load-bearing capacity is limited by the locking structure, resulting in weak overall load-bearing capacity. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present invention is to provide a variant head cone with a metamorphic mechanism containing a coupling chain, which can be telescopic and bendable, thereby improving the overall load-bearing capacity of the variant head cone and facilitating the reliable adaptation of the variant head cone to different environments.

[0005] The variant nose cone of the metamorphic mechanism with a coupling chain according to an embodiment of the present invention includes:

[0006] A housing assembly, the housing assembly comprising four housings arranged from the rear to the front;

[0007] a telescopic chain, distributed along the annular direction of the housing assembly and mounted on the inner sides of the second through fourth housings, the telescopic chain being used to constrain the telescopic deformation of the second through fourth housings. When the telescopic chain reaches a singular position during the telescopic deformation of the housing assembly, the telescopic chain can self-lock and unlock through its own local degrees of freedom;

[0008] a telescopic drive chain, the telescopic drive chain being arranged on the inner sides of the second to third shells and being used to drive the second to fourth shells to perform telescopic deformation;

[0009] bending chains, the bending chains being distributed on opposite sides of the housing assembly and mounted on inner sides of the connection between the first housing and the second housing, the bending chains being used to constrain bending deformation from the first housing to the second housing, and being capable of self-locking and unlocking through their own local degrees of freedom when the bending chains reach a singular position during bending deformation of the housing assembly;

[0010] A bending drive chain is provided on the inner side of the first shell to the second shell, and is used to drive the first shell to the second shell to perform bending deformation.

[0011] According to the variant head cone of the cell mechanism containing a coupling chain according to the embodiment of the present invention, when it is working, when it needs to perform telescopic deformation, the telescopic driving force is provided by the linear telescopic movement of the telescopic drive chain arranged on the second shell to the third shell to drive the third shell to move relative to the second shell, thereby driving the telescopic movement of the telescopic chain, so that the fourth shell, the third shell and the second shell are synchronously telescopically deformed, that is, the telescopic deformation of the variant head cone is realized; when the telescopic chain appears in a singular position during the elongation deformation of the variant head cone, the telescopic chain can self-lock through its own local degree of freedom, so that the telescopic chain becomes a non-retractable fixed structure, thereby making the elongated state The second to fourth shell structures of the variant nose cone are fixed, and the telescopic chain in the self-locking state at this time can also be unlocked through its own local degrees of freedom, so that the shell assembly can be telescopically deformed; when the telescopic chain appears another singular position during the contraction and deformation of the shell assembly, the telescopic chain can self-lock through its own local degrees of freedom, so that the telescopic chain becomes a non-retractable fixed structure, thereby fixing the second to fourth shell structures of the variant nose cone in the contracted state, and the telescopic chain in the self-locking state at this time can also be unlocked through its own local degrees of freedom, so that the shell assembly can be telescopically deformed; when bending deformation is required, the telescopic chain can be self-locked by setting The linear telescopic movement of the bending drive chain arranged on the first shell to the second shell provides a bending driving force to drive the second shell to bend and deform relative to the first shell. The bending deformation from the first shell to the second shell is constrained by the bending chain. When the shell assembly undergoes bending deformation movement, if the axis of the second shell and the axis of the first shell are not coaxial at a certain position, a bending chain on each side of the bending chain of the shell assembly will appear in a singular position. The bending chain in the singular position can be self-locked through its own local freedom, so that the first shell and the second shell cannot undergo relative bending deformation and form a fixed structure, that is, the shell assembly cannot undergo relative bending. The bending chain in the self-locking state can be unlocked by its own local freedom so that the shell assembly can bend and deform. If the axis of the second shell and the axis of the first shell return to the coaxial position, a bending chain on each side of the shell assembly will have a singular position. The bending chain in the singular position can be self-locked by its own local freedom, so that the first shell and the second shell cannot bend and deformed relative to each other, forming a fixed structure, that is, the shell assembly cannot bend and deformed relative to each other, and the bending chain in the self-locking state can be unlocked by its own local freedom so that the shell assembly can bend and deform. When the telescopic drive chain and the bending drive chain are both in the self-locking state, the quasi-integral structure of the variant head is in a fixed state that cannot move, and the overall structure of the variant head cone bears the load.

[0012] Compared with the prior art, the variant head cone of the variant cell mechanism containing a coupling chain according to the embodiment of the present invention can be locked by utilizing the singularity of the telescopic chain and the singularity of the bending chain, so that the variant head cone in the locked state becomes a fixed structure as a whole, allowing the structure to bear the load as a whole, thereby improving the overall load-bearing capacity of the variant head cone, solving the problem that the existing variant head cone requires additional design of a locking structure and the overall weak load-bearing capacity, thereby facilitating the variant head cone to reliably adapt to different environments.

[0013] In some embodiments, the telescopic chain includes a main branch and two coupling chains, the main branch is connected to the second to fourth shells respectively, and the two coupling chains are correspondingly connected to the second and third shells and are both coupled to the main branch; when the telescopic chain appears in a singular position during the telescopic deformation of the shell assembly, the two coupling chains lock and unlock the main branch through their own local degrees of freedom.

[0014] In some embodiments, the main branch chain includes a first link of the main branch chain, a second link of the main branch chain, a third link of the main branch chain, a fourth link of the main branch chain and a fifth link of the main branch chain; one end of the first link of the main branch chain and one end of the fourth link of the main branch chain are hinged to the second shell and the fourth shell respectively, and one end of the second link of the main branch chain and one end of the third link of the main branch chain are hinged to the third shell respectively; the middle part of the first link of the main branch chain is hinged to the middle part of the second link of the main branch chain, the other end of the first link of the main branch chain is hinged to one end of the second link of the main branch chain, and the other end of the second link of the main branch chain has a second link coupling portion; the other end of the third link of the main branch chain, the middle part of the fourth link of the main branch chain and the other end of the second link of the main branch chain are coaxially hinged, and the other end of the fourth link of the main branch chain has a fourth link coupling portion; all hinge axes in the main branch chain are parallel to each other;

[0015] The two coupling chains each include a coupling chain motor, a coupling chain first link, a coupling chain second link, and a coupling chain third link;

[0016] In one of the coupling chains, the coupling chain motor is mounted on the second housing and the output shaft of the coupling chain motor is perpendicular to all the hinge axes in the main branch chain, the first link of the coupling chain is arranged on one side of the output shaft of the coupling chain motor and one end of the first link of the coupling chain is fixed to the output shaft of the coupling chain motor, the two ends of the second link of the coupling chain are respectively hinged to the first link of the coupling chain and the third link of the coupling chain, the hinge axes at the two ends of the second link of the coupling chain are parallel to each other and perpendicular to the output shaft of the coupling chain motor, the third link of the coupling chain is hinged to the coupling part of the second link, the hinge axis between the third link of the coupling chain and the coupling part of the second link is perpendicular to the hinge axes at the two ends of the second link of the coupling chain and to all the hinge axes in the main branch chain; In another of the coupling chains, the coupling chain motor is mounted on the third housing and the output shaft of the coupling chain motor is perpendicular to all the hinge axes in the main branch chain, the first link of the coupling chain is arranged on one side of the output shaft of the coupling chain motor and one end of the first link of the coupling chain is fixed to the output shaft of the coupling chain motor, the two ends of the second link of the coupling chain are respectively hinged to the first link of the coupling chain and the third link of the coupling chain, the hinge axes at the two ends of the second link of the coupling chain are parallel to each other and perpendicular to the output shaft of the coupling chain motor, the third link of the coupling chain is hinged to the coupling portion of the fourth link, the hinge axis between the third link of the coupling chain and the coupling portion of the fourth link is perpendicular to the hinge axes at the two ends of the second link of the coupling chain and to all the hinge axes in the main branch chain;

[0017] When the telescopic chain appears in a singular position during the telescopic deformation of the shell assembly, in the two coupling chains, the hinge axis between the third link of the coupling chain and the coupling part of the second link is coaxial with the output shaft of the coupling chain motor, and the hinge axes at both ends of the second link of the coupling chain are parallel to all the hinge axes in the main branch chain. At this time, the coupling chain motor can drive the corresponding first link of the coupling chain, the second link of the coupling chain and the third link of the coupling chain to rotate synchronously. If the hinge axes at both ends of the second link of the coupling chain are in a non-parallel state with all the hinge axes in the main branch chain, the coupling chain locks the main branch chain. If the hinge axes at both ends of the second link of the coupling chain and all the hinge axes in the main branch chain return to a parallel state, the coupling chain unlocks the main branch chain.

[0018] In some embodiments, the main branch chain also includes a first base of the main branch chain, a second base of the main branch chain, a third base of the main branch chain, and a fourth base of the main branch chain; the first base of the main branch chain and the fourth base of the main branch chain are correspondingly fixed on the second shell and the fourth shell, and the second base of the main branch chain and the third base of the main branch chain are respectively fixed on the third shell; one end of the first connecting rod of the main branch chain, one end of the second connecting rod of the main branch chain, one end of the third connecting rod of the main branch chain and one end of the fourth connecting rod of the main branch chain are correspondingly hinged to the first base of the main branch chain, the second base of the main branch chain, the third base of the main branch chain and the fourth base of the main branch chain.

[0019] In some embodiments, both coupling chains include a coupling chain base; in one of the coupling chains, the coupling chain base fixes the coupling chain motor on the second housing; in the other coupling chain, the coupling chain base fixes the coupling chain motor on the third housing.

[0020] In some embodiments, there are three telescopic chains.

[0021] In some embodiments, the telescopic drive chain includes two telescopic drive bases and a first drive telescopic rod hinged between the two telescopic drive bases, and the two telescopic drive bases are fixed on the second shell and the third shell respectively.

[0022] In some embodiments, two bending chains are provided on opposite sides of the shell assembly, which are arranged to cross each other and not contact each other; each bending chain includes a bending chain motor, a first bending chain link and a second bending chain link; the bending chain motor is fixed on the first shell, the first bending chain link is arranged on one side of the output shaft of the bending chain motor and one end of the first bending chain link is fixed to the output shaft of the bending chain motor, the other end of the first bending chain link is hinged to one end of the second bending chain link and the hinge axis between the first bending chain link and the second bending chain link is perpendicular to the output shaft of the coupling chain motor bending chain motor, the other end of the second bending chain link is hinged to the second shell, and the hinge axis between the second bending chain link and the second shell is perpendicular to the hinge axis between the first bending chain link and the second bending chain link;

[0023] When the two bending chains on opposite sides of the shell assembly appear in a singular position during the bending deformation of the shell assembly, in one of the bending chains, the hinge axis between the second link of the bending chain and the second shell is coaxial with the output shaft of the coupling chain motor bending chain motor and the hinge axis between the first link of the bending chain and the second link of the bending chain is coaxial with the hinge axis between the first link of the bending chain and the second link of the bending chain in another of the bending chains. At this time, the bending chain motor in one of the bending chains drives the corresponding first link of the bending chain and the output shaft of the bending chain motor of the coupling chain motor. The second link of the bending chain rotates synchronously. If the hinge axis between the first link of the bending chain and the second link of the bending chain in one of the bending chains and the hinge axis between the first link of the bending chain and the second link of the bending chain in another of the bending chains are not coaxial, one of the bending chains is self-locked. If the hinge axis between the first link of the bending chain and the second link of the bending chain in one of the bending chains and the hinge axis between the first link of the bending chain and the second link of the bending chain in another of the bending chains return to a coaxial state, one of the bending chains is unlocked.

[0024] In some embodiments, each of the bending chains further includes a first bending chain base and a second bending chain base, wherein the first bending chain base fixes the bending chain motor on the first bending chain shell, the second bending chain base is fixed on the second bending chain shell, and the other end of the second bending chain connecting rod is hinged on the second bending chain base.

[0025] In some embodiments, the bending drive chain includes two bending drive bases and a second drive telescopic rod hinged between the two bending drive bases, and the two bending drive bases are fixed on the first shell and the second shell respectively.

[0026] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0028] Figure 1 Schematic diagram of a contracted state of a variant nose cone of a metamorphic mechanism containing a coupling chain according to an embodiment of the present invention;

[0029] Figure 2 Schematic diagram of an extended state of a variant nose cone of a metamorphic mechanism containing a coupling chain according to an embodiment of the present invention;

[0030] Figure 3 Schematic diagram of a bent state of a variant nose cone of a metamorphic mechanism containing a coupling chain according to an embodiment of the present invention;

[0031] Figure 4 A schematic diagram of the positions of all chains within the head cone of a variant of a metamorphic mechanism containing coupled chains according to an embodiment of the present invention;

[0032] Figure 5 Another schematic diagram of all chains in the nose cone of a variant of the metamorphic mechanism containing coupling chains according to an embodiment of the present invention;

[0033] Figure 6 A schematic diagram of an orientation of a telescopic chain within a variant nose cone of a metamorphic mechanism containing a coupling chain according to an embodiment of the present invention;

[0034] Figure 7 Another schematic diagram of the telescopic chain in the variant nose cone of the metamorphic mechanism with coupling chain according to an embodiment of the present invention;

[0035] Figure 8 An isometric view of a telescopic chain within a variant nose cone of a metamorphic mechanism with a coupling chain according to an embodiment of the present invention;

[0036] Figure 9 Schematic diagram of the main branch of the telescopic chain in the variant head cone of the metamorphic mechanism containing the coupling chain according to an embodiment of the present invention;

[0037] Figure 10 Schematic diagram of the coupling chain of the telescopic chain in the variant nose cone of the metamorphic mechanism containing the coupling chain according to an embodiment of the present invention;

[0038] Figure 11 A schematic diagram of an orientation of a bending chain within a variant nose cone of a metamorphic mechanism containing a coupling chain according to an embodiment of the present invention;

[0039] Figure 12 Another schematic diagram of the bending chain in the variant nose cone of the metamorphic mechanism containing the coupling chain according to an embodiment of the present invention;

[0040] Figure 13 An isometric view of a bending chain within a variant nose cone of a metamorphic mechanism containing a coupling chain according to an embodiment of the present invention;

[0041] Figure 14 Schematic diagram of the telescopic drive chain and the bending drive chain in the variant nose cone of the metamorphic mechanism with coupling chain according to an embodiment of the present invention;

[0042] Figure 15 This is a state diagram of the telescopic chain in the variant nose cone of the metamorphic mechanism with coupling chain according to an embodiment of the present invention when it is in a singular position;

[0043] Figure 16This is a diagram of the state of the telescopic chain in the variant nose cone of the metamorphic mechanism with coupling chain according to an embodiment of the present invention when it is in self-locking state;

[0044] Figure 17 This is a state diagram of a variant nose cone of a metamorphic mechanism containing a coupling chain according to an embodiment of the present invention when the bending chain is in a singular position;

[0045] Figure 18 This is a state diagram of the bending chain in the variant nose cone of the metamorphic mechanism containing a coupling chain according to an embodiment of the present invention when it is in self-locking state.

[0046] Reference numerals:

[0047] Variant nose cone 1000; shell assembly 1; shell 101; telescopic chain 2; main branch chain 201; main branch chain first link 2011; main branch chain second link 2012; second link coupling portion 20121; main branch chain third link 2013; main branch chain fourth link 2014; fourth link coupling portion 20141; main branch chain fifth link 2015; main branch chain first base 2016; main branch chain second base 2017; main branch chain third base 2018; main branch chain fourth base 2019; coupling chain 20 2; coupling chain motor 2020; coupling chain first link 2021; coupling chain second link 2022; coupling chain third link 2023; coupling chain base 2024; telescopic drive chain 3; telescopic drive base 301; first drive telescopic rod 302; bending chain 4; bending chain first link 401; bending chain second link 402; bending chain motor 403; bending chain first base 404; bending chain second base 405; bending drive chain 5; bending drive base 501; second drive telescopic rod 502. DETAILED DESCRIPTION

[0048] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0049] The following combination Figures 1 to 18 The variant nose cone 1000 of the metamorphic mechanism containing a coupling chain according to an embodiment of the present invention will be described.

[0050] like Figures 1 to 18 As shown, the variant nose cone 1000 (for the convenience of description, it can be simply referred to as the variant nose cone 1000) of the metamorphic mechanism containing the coupling chain 202 according to an embodiment of the present invention includes a shell assembly 1, a telescopic chain 2, a telescopic drive chain 3, a bending chain 4 and a bending drive chain 5.

[0051] The housing assembly 1 includes four housings 101 arranged from the back to the front, that is, the housing assembly 1 includes a first housing 101, a second housing 101, a third housing 101 and a fourth housing 101 arranged in sequence from the back to the front.

[0052] like Figures 1 to 10 ,like Figures 15 and 16 As shown, the telescopic chain 2 is distributed along the circumferential direction of the shell assembly 1, that is, there are multiple telescopic chains 2, and the multiple telescopic chains 2 are distributed at intervals along the circumferential direction of the shell assembly 1. For example, if there are three telescopic chains 2, the three telescopic chains 2 are distributed at equal intervals along the circumferential direction of the shell assembly 1. The telescopic chain 2 is installed on the inner side of the second shell 101 to the fourth shell 101, that is, the telescopic chain 2 is connected to the second shell 101, the third shell 101 and the fourth shell 101. The telescopic chain 2 is used to constrain the telescopic deformation of the second shell 101 to the fourth shell 101, and provides constraints for the telescopic deformation movement of the second shell 101 to the fourth shell 101, that is, the telescopic deformation movement of the shell assembly 1. As shown Figure 15 and Figure 16 As shown, when the telescopic chain 2 has a singular position during the telescopic deformation of the shell assembly 1, the telescopic chain 2 can self-lock and unlock through its own local degrees of freedom; for example, when the telescopic chain 2 has a singular position during the elongation deformation of the shell assembly 1, the telescopic chain 2 can self-lock through its own local degrees of freedom, so that the telescopic chain 2 becomes a non-retractable fixed structure, thereby fixing the second shell 101 to the fourth shell 101 structure of the variant head cone 1000 in the extended state, and the telescopic chain 2 in the self-locking state at this time can also be unlocked through its own local degrees of freedom, so that the shell assembly 1 can be telescopically deformed; when the telescopic chain 2 has another singular position during the contraction deformation of the shell assembly 1, the telescopic chain 2 can self-lock through its own local degrees of freedom, so that the telescopic chain 2 becomes a non-retractable fixed structure, thereby fixing the second shell 101 to the fourth shell 101 structure of the variant head cone 1000 in the contracted state, and the telescopic chain 2 in the self-locking state at this time can also be unlocked through its own local degrees of freedom, so that the shell assembly 1 can be telescopically deformed.

[0053] like Figures 1 to 4 、 Figure 14 As shown, the telescopic drive chain 3 is disposed on the inner side of the second to third housings 101, providing the driving force required for the telescopic deformation of the variant nose cone 1000, and is used to drive the telescopic deformation of the second to fourth housings 101. The telescopic drive chain 3 can be one, but is not limited to one.

[0054] like Figures 1 to 5 、 Figures 11 to 13 、 Figures 17 and 18As shown, the bending chains 4 are distributed on opposite sides of the housing assembly 1. For example, the bending chains 4 are symmetrically distributed on the upper and lower sides of the housing assembly 1 and are installed on the inner sides of the first housing 101 to the second housing 101. The bending chains 4 are used to constrain the bending deformation of the first housing 101 to the second housing 101; Figure 17 and Figure 18 As shown, when the bending chain 4 appears in a singular position during the bending deformation of the shell component 1, the bending chain 4 can be self-locked and unlocked through its own local freedom. For example, when the shell component 1 is in a bending deformation movement, if the axis of the second shell 101 and the axis of the first shell 101 are not coaxial at a certain position, there is a bending chain 4 on each side of the shell component 1 that appears in a singular position. The bending chain 4 in the singular position can be self-locked through its own local freedom, so that the first shell 101 and the second shell 101 cannot be bent and deformed relative to each other and form a fixed structure, that is, the shell component 1 cannot be bent and deformed relative to each other, and the bending in the self-locking state at this time The chain 4 can also be unlocked through its own local degrees of freedom so that the shell assembly 1 can bend and deform; if the axis of the second shell 101 and the axis of the first shell 101 return to a coaxial position, one of the bending chains 4 on each side of the shell assembly 1 will have a singular position. The bending chain 4 in the singular position can be self-locked through its own local freedom, so that the first shell 101 and the second shell 101 cannot bend and deform relative to each other and form a fixed structure, that is, the shell assembly 1 cannot bend and deform relative to each other, and the bending chain 4 in the self-locking state at this time can also be unlocked through its own local degrees of freedom so that the shell assembly 1 can bend and deform.

[0055] like Figures 1 to 5 、 Figure 14 As shown, the bending drive chain 5 is disposed on the inner side of the first housing 101 to the second housing 101, for example, on the left or right side of the first housing 101 to the second housing 101, to provide the driving force required for the bending deformation of the variant nose cone 1000, and is used to drive the bending deformation of the first housing 101 to the second housing 101. The bending drive chain 5 can be one, but is not limited to one.

[0056] According to the embodiment of the present invention, the variant head cone 1000 of the cell-transforming mechanism containing the coupling chain 202 is in operation. When telescopic deformation is required, the telescopic driving force is provided by the linear telescopic movement of the telescopic drive chain 3 arranged on the second shell 101 to the third shell 101 to drive the third shell 101 to move relative to the second shell 101, thereby driving the telescopic movement of the telescopic chain 2, so that the fourth shell 101, the third shell 101 and the second shell 101 are synchronously telescopically deformed, that is, the telescopic deformation of the variant head cone 1000 is realized; when the telescopic chain 2 appears in a singular position during the elongation deformation of the variant head cone 1000, the telescopic chain 2 can self-lock through its own local degree of freedom, so that the telescopic chain 2 becomes a non-retractable fixed structure. , thereby making the second shell 101 to the fourth shell 101 structure of the variant head cone 1000 in the extended state fixed, and the telescopic chain 2 in the self-locking state at this time can also be unlocked through its own local degree of freedom, so that the shell assembly 1 can be telescopically deformed; when the telescopic chain 2 appears in another singular position during the contraction and deformation of the shell assembly 1, the telescopic chain 2 can self-lock through its own local degree of freedom, so that the telescopic chain 2 becomes a non-retractable fixed structure, thereby making the second shell 101 to the fourth shell 101 structure of the variant head cone 1000 in the contracted state fixed, and the telescopic chain 2 in the self-locking state at this time can also be unlocked through its own local degree of freedom, so that the shell assembly 1 can be telescopically deformed; when bending deformation is required When the bending drive chain 5 provided on the first shell 101 to the second shell 101 is extended to provide a bending driving force, the second shell 101 is driven to bend and deform relative to the first shell 101, and the bending deformation from the first shell 101 to the second shell 101 is constrained by the bending chain 4. When the shell assembly 1 is in a bending deformation movement, if the axis of the second shell 101 and the axis of the first shell 101 are not coaxial at a certain position, one of the bending chains 4 on each side of the shell assembly 1 will have a singular position. The bending chain 4 in the singular position can be self-locked by its own local freedom, so that the first shell 101 and the second shell 101 cannot be bent and deformed relative to each other, forming a fixed structure, that is, the shell assembly 1 is in a bending deformation movement. The body component 1 cannot undergo relative bending deformation, and the bending chain 4 in the self-locking state at this time can also be unlocked through its own local freedom so that the shell component 1 can undergo bending deformation; if the axis of the second shell 101 and the axis of the first shell 101 return to the coaxial position, one bending chain 4 on each side of the shell component 1 will appear in a singular position, and the bending chain 4 in the singular position can self-lock through its own local freedom, so that the first shell 101 and the second shell 101 cannot undergo relative bending deformation and form a fixed structure, that is, the shell component 1 cannot undergo relative bending deformation, and the bending chain 4 in the self-locking state at this time can also be unlocked through its own local freedom so that the shell component 1 can undergo bending deformation.When the telescopic drive chain 3 and the bending drive chain 5 are both in the self-locking state, the quasi-integral structure of the variant head is in a fixed state and cannot move, and the overall structure of the variant head cone 1000 bears the load.

[0057] According to the embodiment of the present invention, the variant head cone 1000 of the cell mechanism containing the coupling chain 202 can be locked by utilizing the singularity of the telescopic chain 2 and the singularity of the bending chain 4, compared with the prior art, so that the variant head cone 1000 in the locked state becomes a fixed structure as a whole, allowing the structure to bear the load as a whole, thereby improving the overall load-bearing capacity of the variant head cone 1000, solving the problem that the existing variant head cone 1000 needs to additionally design a locking structure and has weak overall load-bearing capacity, thereby facilitating the variant head cone 1000 to reliably adapt to different environments.

[0058] In some embodiments, as Figures 1 to 10 、 Figures 15 and 16 As shown, the telescopic chain 2 includes a main branch chain 201 and two coupling chains 202. The main branch chain 201 is respectively connected to the second shell 101 to the fourth shell 101, that is, the main branch chain 201 is respectively connected to the second shell 101, the third shell 101 and the fourth shell 101, and the two coupling chains 202 are correspondingly connected to the second shell 101 and the third shell 101 and are both coupled to the main branch chain 201; when the telescopic chain 2 appears in a singular position during the telescopic deformation of the shell assembly 1, the two coupling chains 202 lock and unlock the main branch chain 201 through their own local degrees of freedom. That is, when the telescopic chain 2 is in a singular position, the coupling chain 202 has a local degree of freedom, through which the main branch chain 201 can be locked or unlocked.

[0059] In some embodiments, the main branch chain 201 includes a main branch chain first link 2011, a main branch chain second link 2012, a main branch chain third link 2013, a main branch chain fourth link 2014 and a main branch chain fifth link 2015; one end of the main branch chain first link 2011 and one end of the main branch chain fourth link 2014 are respectively hinged to the second shell 101 and the fourth shell 101, and one end of the main branch chain second link 2012 and one end of the main branch chain third link 2013 are respectively hinged to the third shell 101; the main branch chain first link 2011 The middle portion of the main branch chain is hinged to the middle portion of the second link 2012 of the main branch chain. The other end of the first link 2011 of the main branch chain is hinged to one end of the second link 2012 of the main branch chain. The other end of the second link 2012 of the main branch chain has a second link coupling portion 20121. The other end of the third link 2013 of the main branch chain, the middle portion of the fourth link 2014 of the main branch chain, and the other end of the second link 2012 of the main branch chain are coaxially hinged. The other end of the fourth link 2014 of the main branch chain has a fourth link coupling portion 20141. All hinge axes within the main branch chain 201 are parallel to each other. The main branch chain 201 can be used to constrain the second shell 101, the third shell 101, and the fourth shell 101 to synchronously expand and contract, thereby achieving expansion and contraction of the variant nose cone 1000.

[0060] The two coupling chains 202 each include a coupling chain motor 2020, a coupling chain first link 2021, a coupling chain second link 2022, and a coupling chain third link 2023. In one of the coupling chains 202, the coupling chain motor 2020 is mounted on the second housing 101, and the output shaft of the coupling chain motor 2020 is perpendicular to all the articulated axes in the main branch chain 201. The coupling chain first link 2021 is arranged on one side of the output shaft of the coupling chain motor 2020, and one end of the coupling chain first link 2021 is connected to the coupling chain. The output shaft of the chain motor 2020 is fixed, and the two ends of the second link 2022 of the coupling chain are respectively hinged to the first link 2021 of the coupling chain and the third link 2023 of the coupling chain. The hinge axes at the two ends of the second link 2022 of the coupling chain are parallel to each other and perpendicular to the output shaft of the coupling chain motor 2020. The third link 2023 of the coupling chain is hinged to the second link coupling part 20121. The hinge axis between the third link 2023 of the coupling chain and the second link coupling part 20121 and the two ends of the second link 2022 of the coupling chain are connected. The hinge axis at the coupling chain 202 is perpendicular to all hinge axes in the main branch chain 201; in another coupling chain 202, the coupling chain motor 2020 is installed on the third housing 101 and the output shaft of the coupling chain motor 2020 is perpendicular to all hinge axes in the main branch chain 201, the first coupling link 2021 of the coupling chain is arranged on one side of the output shaft of the coupling chain motor 2020 and one end of the first coupling link 2021 of the coupling chain is fixed to the output shaft of the coupling chain motor 2020, and both ends of the second coupling link 2022 of the coupling chain are fixed to the output shaft of the coupling chain motor 2020. They are respectively hinged to the first link 2021 of the coupling chain and the third link 2023 of the coupling chain, the hinge axes at both ends of the second link 2022 of the coupling chain are parallel to each other and perpendicular to the output shaft of the coupling chain motor 2020, the third link 2023 of the coupling chain is hinged to the fourth link coupling part 20141, the hinge axis between the third link 2023 and the fourth link coupling part 20141 of the coupling chain is perpendicular to the hinge axes at both ends of the second link 2022 of the coupling chain and to all the hinge axes in the main branch chain 201.

[0061] When the telescopic chain 2 appears in a singular position during the telescopic deformation of the shell assembly 1, in the two coupling chains 202, the hinge axis between the third link 2023 of the coupling chain and the second link coupling part 20121 is coaxial with the output shaft of the coupling chain motor 2020, and the hinge axes at both ends of the second link 2022 of the coupling chain are parallel to all the hinge axes in the main branch chain 201. At this time, the coupling chain motor 2020 can drive the corresponding first link 2021, second link 2022 and third link 2023 of the coupling chain to rotate synchronously. If the hinge axes at both ends of the second link 2022 of the coupling chain are in a non-parallel state with all the hinge axes in the main branch chain 201, the coupling chain 202 locks the main branch chain 201. If the hinge axes at both ends of the second link 2022 of the coupling chain and all the hinge axes in the main branch chain 201 return to a parallel state, the coupling chain 202 unlocks the main branch chain 201.

[0062] In other words, the telescopic chain 2 enters a singular position in the specific posture of the variant nose cone 1000, creating a local degree of freedom in the coupling chain 202, where the coupling chain motor 220 can drive the first coupling link 2021, the second coupling link 2022, and the third coupling link 2023 to rotate synchronously. This local degree of freedom can be used to change the direction of the kinematic joint in the telescopic chain 2, allowing the coupling chain 202 to lock the main branch 201 or unlock the locked main branch 201. Furthermore, the telescopic chain 2 has a good load-bearing capacity when locked.

[0063] In some embodiments, the main branch chain 201 also includes a main branch chain first base 2016, a main branch chain second base 2017, a main branch chain third base 2018, and a main branch chain fourth base 2019; the main branch chain first base 2016 and the main branch chain fourth base 2019 are correspondingly fixed on the second shell 101 and the fourth shell 101, and the main branch chain second base 2017 and the main branch chain third base 2018 are respectively fixed on the third shell 101; one end of the main branch chain first link 2011, one end of the main branch chain second link 2012, one end of the main branch chain third link 2013 and one end of the main branch chain fourth link 2014 are correspondingly hinged to the main branch chain first base 2016, the main branch chain second base 2017, the main branch chain third base 2018 and the main branch chain fourth base 2019.

[0064] Therefore, the main branch chain 201 is hinged with the second shell 101, the third shell 101 and the fourth shell 101 through the main branch chain first base 2016, the main branch chain second base 2017, the main branch chain third base 2018 and the main branch chain fourth base 2019, and the main branch chain 201 is easy to install.

[0065] In some embodiments, both coupling chains 202 include a coupling chain base 2024. In one coupling chain 202, the coupling chain base 2024 secures the coupling chain motor 2020 to the second housing 101. In the other coupling chain 202, the coupling chain base 2024 secures the coupling chain motor 2020 to the third housing 101. Thus, the coupling chain 202 is hingedly connected to the first housing 101 and the second housing 101 via the two coupling chain bases 2024, and the coupling is easy to install.

[0066] In some embodiments, there are three telescopic chains 2, but the number is not limited to three. By providing three telescopic chains 2, the telescopic deformation of the variant nose cone 1000 can be better constrained.

[0067] In some embodiments, the telescopic drive chain 3 includes two telescopic drive bases 301 and a first telescopic drive rod 302 hinged between the two telescopic drive bases 301. The two telescopic drive bases 301 are respectively fixed to the second housing 101 and the third housing 101. Thus, the ends of the first telescopic drive rod 302 are hingedly connected to the second housing 101 and the third housing 101 through the two telescopic drive bases 301, and the telescopic drive chain 3 is easy to install.

[0068] In some embodiments, as Figures 1 to 5 、 Figures 11 to 13 、 Figures 17 and 18 As shown, two bending chains 4 are provided on opposite sides of the shell assembly 1, which are arranged to cross each other and not contact each other; each bending chain 4 includes a bending chain motor 403, a first bending chain link 401 and a second bending chain link 402; the bending chain motor is fixed on the first shell 101, the first bending chain link 401 is arranged on one side of the output shaft of the bending chain motor 403 and one end of the first bending chain link 401 is fixed to the output shaft of the bending chain motor 403, the other end of the first bending chain link 401 is hinged to one end of the second bending chain link 402 and the hinge axis between the first bending chain link 401 and the second bending chain link 402 is perpendicular to the output shaft of the bending chain motor 403, the other end of the second bending chain link 402 is hinged to the second shell 101 and the hinge axis between the second bending chain link 402 and the second shell 101 is perpendicular to the hinge axis between the first bending chain link 401 and the second bending chain link 402. The bending chain 4 can constrain the second shell 101 from bending deformation relative to the first shell 101 , thereby achieving bending deformation of the variant nose cone 1000 .

[0069] When the two bending chains 4 on the opposite sides of the shell assembly 1 appear in a singular position during the bending deformation of the shell assembly 1, in one of the bending chains 4, the hinge axis between the second link 402 of the bending chain and the second shell 101 is coaxial with the output shaft of the bending chain motor 403, and the hinge axis between the first link 401 of the bending chain and the second link 402 of the bending chain is coaxial with the hinge axis between the first link 401 of the bending chain and the second link 402 of the bending chain in the other bending chain 4. At this time, the bending chain motor 403 in one of the bending chains 4 drives the corresponding first link 401 of the bending chain and the second link 402 of the bending chain. 402 rotate synchronously. If the hinge axis between the first link 401 and the second link 402 of the bending chain in one of the bending chains 4 is not coaxial with the hinge axis between the first link 401 and the second link 402 of the bending chain in another of the bending chains 4, one of the bending chains 4 is self-locked. If the hinge axis between the first link 401 and the second link 402 of the bending chain in one of the bending chains 4 is back to a coaxial state with the hinge axis between the first link 401 and the second link 402 of the bending chain in another of the bending chains 4, one of the bending chains 4 is unlocked.

[0070] In other words, when the bending chain 4 is in a specific position of the variant nose cone 1000, a singular position occurs in the bending chain 4, i.e., the bending chain motor 403 can drive the first bending chain link 401 and the second bending chain link 402 to rotate synchronously. This local degree of freedom is used to change the direction of the kinematic pair in the bending chain 4, thereby achieving self-locking of the bending chain 4 and unlocking the locked bending chain 4. Furthermore, the bending chain 4 has a good load-bearing capacity in the locked state.

[0071] In some embodiments, each bending chain 4 further includes a first bending chain base 404 and a second bending chain base 405. The first bending chain base 404 secures the bending chain motor 403 to the first housing 101, the second bending chain base 405 secures the second bending chain motor 403 to the second housing 101, and the other end of the bending chain second connecting rod 402 is hinged to the second bending chain base 405. Thus, the bending chain 4 is mounted between the first housing 101 and the second housing 101 via the first bending chain base 404 and the second bending chain base 405, making installation convenient and reliable.

[0072] In some embodiments, the bending drive chain 5 includes two bending drive bases 501 and a second drive telescopic rod 502 hinged between the two bending drive bases 501. The two bending drive bases 501 are respectively fixed to the first housing 101 and the second housing 101. Thus, the ends of the second drive telescopic rod 502 are hingedly connected to the first housing 101 and the second housing 101 through the two bending drive bases 501, and the bending drive chain 5 is easy to install.

[0073] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0074] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A variant nose cone with a metamorphic mechanism containing a coupling chain, characterized in that: include: A housing assembly, the housing assembly comprising four housings arranged from the rear to the front; a telescopic chain, distributed along the annular direction of the housing assembly and mounted on the inner sides of the second through fourth housings, the telescopic chain being used to constrain the telescopic deformation of the second through fourth housings. When the telescopic chain reaches a singular position during the telescopic deformation of the housing assembly, the telescopic chain can self-lock and unlock through its own local degrees of freedom; a telescopic drive chain, the telescopic drive chain being arranged on the inner sides of the second to third shells and being used to drive the second to fourth shells to perform telescopic deformation; bending chains, the bending chains being distributed on opposite sides of the housing assembly and mounted on inner sides of the connection between the first housing and the second housing, the bending chains being used to constrain bending deformation from the first housing to the second housing, and being capable of self-locking and unlocking through their own local degrees of freedom when the bending chains reach a singular position during bending deformation of the housing assembly; a bending drive chain, the bending drive chain being arranged on the inner side of the first shell to the second shell, and being used for driving the first shell to the second shell to perform bending deformation; The telescopic chain includes a main branch chain and two coupling chains. The main branch chain is connected to the second to fourth housings respectively. The two coupling chains are connected to the second and third housings respectively and are coupled to the main branch chain. When the telescopic chain reaches a singular position during the telescopic deformation of the housing assembly, the two coupling chains lock and unlock the main branch chain through their own local degrees of freedom. The main branch chain includes a first link of the main branch chain, a second link of the main branch chain, a third link of the main branch chain, a fourth link of the main branch chain and a fifth link of the main branch chain; one end of the first link of the main branch chain and one end of the fourth link of the main branch chain are correspondingly hinged to the second shell and the fourth shell, and one end of the second link of the main branch chain and one end of the third link of the main branch chain are respectively hinged to the third shell; the middle part of the first link of the main branch chain is hinged to the middle part of the second link of the main branch chain, the other end of the first link of the main branch chain is hinged to one end of the second link of the main branch chain, and the other end of the second link of the main branch chain has a second link coupling part; the other end of the third link of the main branch chain, the middle part of the fourth link of the main branch chain and the other end of the second link of the main branch chain are coaxially hinged, and the other end of the fourth link of the main branch chain has a fourth link coupling part; all hinge axes in the main branch chain are parallel to each other; The two coupling chains each include a coupling chain motor, a coupling chain first link, a coupling chain second link and a coupling chain third link; in one of the coupling chains, the coupling chain motor is installed on the second housing and the output shaft of the coupling chain motor is perpendicular to all the hinge axes in the main branch chain, the coupling chain first link is arranged on one side of the output shaft of the coupling chain motor and one end of the coupling chain first link is fixed to the output shaft of the coupling chain motor, the two ends of the coupling chain second link are respectively hinged to the coupling chain first link and the coupling chain third link, the hinge axes at the two ends of the coupling chain second link are parallel to each other and perpendicular to the output shaft of the coupling chain motor, the coupling chain third link is hinged to the coupling part of the second link, and the hinge axis between the coupling chain third link and the coupling part of the second link is perpendicular to the hinge axes at the two ends of the coupling chain second link. straight and perpendicular to all the hinge axes in the main branch chain; in another of the coupling chains, the coupling chain motor is installed on the third housing and the output shaft of the coupling chain motor is perpendicular to all the hinge axes in the main branch chain, the first link of the coupling chain is arranged on one side of the output shaft of the coupling chain motor and one end of the first link of the coupling chain is fixed to the output shaft of the coupling chain motor, the two ends of the second link of the coupling chain are respectively hinged to the first link of the coupling chain and the third link of the coupling chain, the hinge axes at the two ends of the second link of the coupling chain are parallel to each other and perpendicular to the output shaft of the coupling chain motor, the third link of the coupling chain is hinged to the coupling part of the fourth link, the hinge axis between the third link of the coupling chain and the coupling part of the fourth link is perpendicular to the hinge axes at the two ends of the second link of the coupling chain and to all the hinge axes in the main branch chain; When the telescopic chain appears a singular position during the telescopic deformation of the shell assembly, in the two coupling chains, the hinge axis between the third link of the coupling chain and the coupling part of the second link is coaxial with the output shaft of the coupling chain motor, and the hinge axes at both ends of the second link of the coupling chain are parallel to all the hinge axes in the main branch chain. At this time, the coupling chain motor can drive the corresponding first link of the coupling chain, the second link of the coupling chain and the third link of the coupling chain to rotate synchronously. If the hinge axes at both ends of the second link of the coupling chain are in a non-parallel state with all the hinge axes in the main branch chain, the coupling chain locks the main branch chain. If the hinge axes at both ends of the second link of the coupling chain and all the hinge axes in the main branch chain return to a parallel state, the coupling chain unlocks the main branch chain. Two bending chains are provided on opposite sides of the housing assembly, which are arranged to cross each other and not contact each other; each bending chain includes a bending chain motor, a first bending chain link and a second bending chain link; the bending chain motor is fixed on the first housing, the first bending chain link is arranged on one side of the output shaft of the bending chain motor and one end of the first bending chain link is fixed to the output shaft of the bending chain motor; the other end of the first bending chain link is hinged to one end of the second bending chain link and the hinge axis between the first bending chain link and the second bending chain link is perpendicular to the output shaft of the coupling chain motor bending chain motor, the other end of the second bending chain link is hinged to the second housing and the hinge axis between the second bending chain link and the second housing is perpendicular to the hinge axis between the first bending chain link and the second bending chain link; When the two bending chains on opposite sides of the shell assembly appear in a singular position during the bending deformation of the shell assembly, in one of the bending chains, the hinge axis between the second link of the bending chain and the second shell is coaxial with the output shaft of the coupling chain motor bending chain motor and the hinge axis between the first link of the bending chain and the second link of the bending chain is coaxial with the hinge axis between the first link of the bending chain and the second link of the bending chain in another of the bending chains. At this time, the bending chain motor in one of the bending chains drives the corresponding first link of the bending chain and the output shaft of the bending chain motor of the coupling chain motor. The second link of the bending chain rotates synchronously. If the hinge axis between the first link of the bending chain and the second link of the bending chain in one of the bending chains and the hinge axis between the first link of the bending chain and the second link of the bending chain in another of the bending chains are not coaxial, one of the bending chains is self-locked. If the hinge axis between the first link of the bending chain and the second link of the bending chain in one of the bending chains and the hinge axis between the first link of the bending chain and the second link of the bending chain in another of the bending chains return to a coaxial state, one of the bending chains is unlocked.

2. The variant nose cone of the metamorphic mechanism with coupling chain according to claim 1, characterized in that: The main branch chain also includes a first base of the main branch chain, a second base of the main branch chain, a third base of the main branch chain, and a fourth base of the main branch chain; the first base of the main branch chain and the fourth base of the main branch chain are correspondingly fixed on the second shell and the fourth shell, and the second base of the main branch chain and the third base of the main branch chain are respectively fixed on the third shell; one end of the first connecting rod of the main branch chain, one end of the second connecting rod of the main branch chain, one end of the third connecting rod of the main branch chain and one end of the fourth connecting rod of the main branch chain are correspondingly hinged to the first base of the main branch chain, the second base of the main branch chain, the third base of the main branch chain and the fourth base of the main branch chain.

3. The variant nose cone of the metamorphic mechanism with coupling chain according to claim 1, characterized in that: The two coupling chains each include a coupling chain base; in one of the coupling chains, the coupling chain base fixes the coupling chain motor on the second housing; in the other coupling chain, the coupling chain base fixes the coupling chain motor on the third housing.

4. The variant nose cone of the metamorphic mechanism with coupling chain according to any one of claims 1 to 3, characterized in that: There are three telescopic chains.

5. The variant nose cone of the metamorphic mechanism with coupling chain according to any one of claims 1 to 3, characterized in that: The telescopic drive chain includes two telescopic drive bases and a first drive telescopic rod hinged between the two telescopic drive bases. The two telescopic drive bases are fixed on the second shell and the third shell respectively.

6. The variant nose cone of the metamorphic mechanism with coupling chain according to claim 5, characterized in that: Each bending chain also includes a first bending chain base and a second bending chain base. The first bending chain base fixes the bending chain motor on the first bending chain shell, and the second bending chain base is fixed on the second bending chain shell. The other end of the second bending chain connecting rod is hinged on the second bending chain base.

7. The variant nose cone of the metamorphic mechanism with coupling chain according to any one of claims 1 to 3, characterized in that: The bending drive chain includes two bending drive bases and a second drive telescopic rod hinged between the two bending drive bases. The two bending drive bases are fixed on the first shell and the second shell respectively.

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