A deformable truss mechanism

Abstract

The present application relates to the technical field of wing truss, in particular to a deformable truss mechanism, comprising a head unit, a connecting unit and a terminal unit, the head unit is provided with a first power source outside, one side of the connecting unit is connected with the head unit through a first connecting piece, the terminal unit is connected with the other side of the connecting unit through a second connecting piece, the connecting unit is composed of at least one tetrahedron, the tetrahedron comprises a first spherical hinge joint, three first spherical joint pieces, three first horizontal plane rods and three first inclined rods, when a second power source is shortened or lengthened, the connecting unit and the terminal unit are bent upwards or downwards, the overall bending degree is freely changed within the stroke range of the second power source, and the posture can be freely changed under the environmental requirements.

Description

Technical Field

[0001] This invention belongs to the field of wing truss technology, and particularly relates to a deformable truss mechanism. Background Technology

[0002] The wing structure of an aircraft often determines the overall performance and stable operating environment of the aircraft, and the rigidity of the wing structure comes from its internal truss structure. Currently, most new aircraft wing designs adopt fixed wings with ailerons. The fixed wing uses a fixed rigid truss as its main support structure and as the source of strength for the overall wing, and this technology is relatively mature.

[0003] As the existing airspace environment becomes increasingly complex, the original wing truss design can hardly meet the requirements for stable operation in complex airspace environments. This makes it difficult for the wing to meet the working requirements in complex environments, which in turn greatly reduces the working efficiency of the entire aircraft and greatly restricts the application of aircraft in the aerospace field. Furthermore, the wing structure of aircraft usually uses a single drive source for deformation, resulting in a small range of sweep angle changes. 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, the present invention proposes a deformable truss mechanism.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a deformable truss mechanism, comprising:

[0006] The head unit has a first power source disposed on its outer side;

[0007] A connecting unit, one side of which is connected to the head unit via a first connector;

[0008] An end unit, wherein the end unit is connected to the other side of the connecting unit via a second connector;

[0009] The connecting unit is composed of at least one tetrahedron, which includes a first ball joint, three first ball joint pieces, three first horizontal rods, and three first diagonal rods. One end of each of the three first diagonal rods is connected to the side wall of the first ball joint, and the other end of each of the three first diagonal rods is connected to the three first ball joint pieces. The three first horizontal rods are connected between each adjacent first ball joint piece. A second power source is provided at the end of the first ball joint. When the second power source shortens or extends, the connecting unit and the end unit bend upwards or downwards.

[0010] Compared with existing technologies, this deformable truss is applicable to airspace environments. It consists of a head unit, a connecting unit, and an end unit. The connecting unit is composed of at least one tetrahedron, and each tetrahedron is provided with a second power source. When the driving end of each second power source shortens, the connecting unit and the end unit bend upwards. When the driving end of each second power source extends, the connecting unit and the end unit bend downwards. The overall curvature can be freely changed within the stroke range of the second power source, so that when the truss is mounted on an aircraft, it can freely change its attitude under environmental requirements.

[0011] More specifically, in the above technical solution, when the connecting unit is composed of two or more tetrahedrons, the first horizontal rods of two adjacent tetrahedrons are in a shared state and both ends of the first horizontal rods are connected to the first ball joint pieces of the two adjacent tetrahedrons.

[0012] More specifically, in the above technical solution, the head unit includes a second ball joint, a vertical rod, a parallel horizontal rod, and two short diagonal rods. One end of each of the two short diagonal rods is disposed opposite to the side wall of the second ball joint, and the other end of each of the two short diagonal rods is connected to the side wall of the vertical rod by a fixing member. Both ends of the vertical rod are connected to parallel connectors. One end of the parallel horizontal rod is hinged to one of the parallel connectors on one side, and the first power source is located between the other parallel connector and the other end of the parallel horizontal rod.

[0013] More specifically, in the above technical solution, the first connector is a connecting sleeve, and two connecting sleeves are provided, and the two connecting sleeves are fixedly disposed on a parallel horizontal rod, wherein one side of the horizontal rod is sleeved with the opening of the connecting sleeve.

[0014] More specifically, in the above technical solution, there are two second connectors, and each second connector is located at the connection between the horizontal rod and the first ball joint piece.

[0015] More specifically, in the above technical solution, the end unit includes a third ball joint, a spatial diagonal rod, an extended horizontal rod, a semi-length horizontal rod, a second horizontal rod, and two second diagonal rods. One end of each of the two second diagonal rods is connected to the side wall of the third ball joint, and the other ends of the two second diagonal rods are respectively connected to the corresponding second ball joint pieces. One end of the extended horizontal rod is connected to the second ball joint piece on one side, and one end of the semi-length horizontal rod is connected to the second ball joint piece on the other side. One end of the spatial diagonal rod is connected to the side wall of the second ball joint, and the other ends of the spatial diagonal rod, the extended horizontal rod, and the spatial diagonal rod all converge and connect.

[0016] More specifically, in the above technical solution, the first power source is a first electric push rod, the telescopic end of the first electric push rod is hinged to the corresponding parallel connector, and the fixed end of the first electric push rod is also hinged to the parallel horizontal rod through the parallel connector.

[0017] 11. More specifically, in the above technical solution, the second power source is a second electric push rod, and when the connecting unit is composed of N+2 tetrahedrons, the second electric push rod is provided with N+3 correspondingly, where N is a positive integer greater than or equal to 1.

[0018] More specifically, in the above technical solution, the telescopic end and the fixed end of the second electric push rod are located between and hinged to each of the two first ball joints, and the fixed end of the second electric push rod located at the first end is hinged to the second ball joint.

[0019] More specifically, in the above technical solution, a third electric push rod is provided at the second ball joint and the third ball joint at the tail end, and the telescopic end of the third electric push rod is hinged to the third ball joint, and the fixed end of the third electric push rod is hinged to the second ball joint.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] (1) The present invention is applied to the airspace environment, and the truss is composed of a head unit, a connecting unit and an end unit. By setting a second drive source on each tetrahedron, when the drive end of the second drive source shortens or extends, the connecting unit and the end unit bend upward or downward. The overall curvature can be freely changed within the stroke range of the second drive source, and each second drive source can be controlled independently, so that when the truss is loaded on the aircraft, it can achieve different attitude requirements in different environments.

[0022] (2) The structural stiffness of the present invention is provided by the rods and electric actuators, which makes the overall truss have a large structural stiffness. The truss can be converted between mechanism and structure without the need to use additional components or change the number and specifications of existing components. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of a deformable truss mechanism according to the present invention;

[0024] Figure 2 This is a schematic diagram of the three-dimensional structure of the head unit;

[0025] Figure 3 This is a schematic diagram of a tetrahedral solid structure;

[0026] Figure 4 This is a schematic diagram of the three-dimensional structure of the end unit;

[0027] Figure 5 This is a schematic diagram of a type A node in a deformable truss mechanism;

[0028] Figure 6 This is a schematic diagram of a type B node in a deformable truss mechanism;

[0029] Figure 7 This is a schematic diagram of a type C node in a deformable truss mechanism;

[0030] Figure 8 This is a schematic diagram of a type D node in a deformable truss mechanism;

[0031] Figure 9 This is a schematic diagram of a type E node in a deformable truss mechanism;

[0032] Figure 10 This is a schematic diagram illustrating the upward bending state change of a deformable truss mechanism according to the present invention;

[0033] Figure 11 This is a schematic diagram illustrating the downward bending state change of a deformable truss mechanism according to the present invention;

[0034] Figure 12 This is a schematic diagram of a deformable truss mechanism of the present invention undergoing counterclockwise twisting;

[0035] Figure 13 This is a schematic diagram of a deformable truss mechanism of the present invention twisting clockwise.

[0036] In the diagram: 1. Head unit; 11. Second ball joint; 12. Vertical rod; 13. Parallel horizontal rod; 14. Short diagonal rod; 15. Parallel connector; 2. First electric push rod; 3. Connecting unit; 31. Tetrahedron; 311. First ball joint; 312. First ball joint piece; 313. First horizontal rod; 314. First diagonal rod; 315. Second electric push rod; 4. Connecting sleeve; 5. End unit; 51. Third ball joint; 52. Spatial diagonal rod; 53. Extended horizontal rod; 54. Semi-long horizontal rod; 55. Second horizontal rod; 56. Second diagonal rod; 6. Second ball joint piece; 7. Third electric push rod. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0039] Please see Figure 1 As shown, to achieve the above objectives, the present invention proposes a deformable truss mechanism, including a head unit 1, a connecting unit 3, and an end unit 5. A first power source is provided on the outside of the head unit 1, and the head unit 1 is connected to one side of the connecting unit 3 through a first connector. The end unit 5 is connected to the other side of the connecting unit 3 through a second connector. The head unit 1, the connecting unit 3, and the end unit 5 are assembled through the first connector and the second connector, which facilitates the installation and disassembly of the truss.

[0040] The connecting unit 3 is composed of at least one tetrahedron 31. The tetrahedron 31 includes a first ball joint 311, three first ball joint pieces 312, three first horizontal rods 313, and three first diagonal rods 314. One end of each of the three first diagonal rods 314 is connected to the side wall of the first ball joint 311, and the other end of each of the three first diagonal rods 314 is connected to the three first ball joint pieces 312 respectively. The three first horizontal rods 313 are respectively connected between each adjacent first ball joint piece 312. The end of the first ball joint 311 is provided with a second power source. When the second power source shortens or extends, the connecting unit 3 and the end unit 5 bend upwards or downwards. When the driving end of each second power source shortens, the connecting unit 3 and the end unit 5 bend upwards. When the driving end of each second power source extends, the connecting unit 3 and the end unit 5 bend downwards. The overall bending degree can be freely changed within the stroke range of the second power source, and the posture can be freely changed under environmental requirements.

[0041] like Figure 5-9 As shown, the length of the horizontal bar is 244-254 mm, the length of the diagonal bar is 145-150 mm, and a single tetrahedron 31 generates 3 Class A nodes and 1 Class B node. The Class A node is equivalent to the connection point of the first ball joint piece 312, and the Class B node is equivalent to the connection point of the first ball joint 311.

[0042] like Figure 3As shown, in some embodiments, when the connecting unit 3 is composed of two or more tetrahedrons 31, the first horizontal rods 313 of two adjacent tetrahedrons 31 are in a shared state and both ends of the first horizontal rods 313 are connected to the first ball joint pieces 312 of the two adjacent tetrahedrons 31. One of the first horizontal rods 313 between adjacent tetrahedrons 31 serves as a shared rod and both ends of the first horizontal rods 313 pass through two first ball joints 311 on adjacent sides.

[0043] When at least one first electric push rod 2 is in working state, the tetrahedral 31 truss as a whole is a mechanism, and its movement posture is determined by the current stroke of the first electric push rod 2; the first ball joint piece 312 at the A-type node in each tetrahedral 31 is hinged to the first horizontal bar 313 and the first diagonal bar 314 through its own hole feature, and the first diagonal bar 314 is hinged to the first ball joint 311. Since a tetrahedral 31 unit is finally formed after the final hinge, it ultimately forms a tetrahedral 31 stable structure.

[0044] like Figure 2 As shown, in some embodiments, the head unit 1 includes a second ball joint 11, a vertical rod 12, a parallel horizontal rod 13, and two short diagonal rods 14. One end of each of the two short diagonal rods 14 is disposed opposite to the side wall of the second ball joint 11, and the other ends of each of the two short diagonal rods 14 are connected to the side wall of the vertical rod 12 by fasteners. Both ends of the vertical rod 12 are connected to parallel connectors 15. One end of the parallel horizontal rod 13 is hinged to one of the parallel connectors 15. The first power source is located between the other parallel connector 15 and the other end of the parallel horizontal rod 13.

[0045] like Figure 5-6 and Figure 8 As shown, the head unit 1 generates a B-type node, an A-type node, a D-type node, and an E-type node. The B-type node is the fixed end of the first power source, the A-type node is the connection point of the two ends of the horizontal rod near the head unit 1, the D-type node is the hinge point of the head unit 1 and the first connector, and the E-type node is the connection point of the parallel connector 15.

[0046] like Figure 1 and Figure 2 As shown, in some embodiments, the first connector is a connecting sleeve 4. Two connecting sleeves 4 are provided, and the two connecting sleeves 4 are fixedly mounted on the parallel horizontal rod 13. One side of the horizontal rod is sleeved with the opening of the connecting sleeve 4.

[0047] like Figure 1 and Figure 4 As shown, in some embodiments, the second connector is a second ball joint piece 6. There are two second ball joint pieces, and each second ball joint piece is located at the connection between the horizontal rod and the first ball joint piece 312.

[0048] like Figure 4 As shown, in some embodiments, the end unit 5 includes a third ball joint 51, a spatial diagonal bar 52, an extended horizontal bar 53, a semi-length horizontal bar 54, a second horizontal bar 55, and two second diagonal bars 56. One end of each of the two second diagonal bars 56 is connected to the side wall of the third ball joint 51, and the other end of each second diagonal bar 56 is connected to a corresponding second ball joint piece. One end of the extended horizontal bar 53 is connected to a second ball joint piece on one side, and one end of the semi-length horizontal bar 54 is connected to a second ball joint piece on the other side. One end of the spatial diagonal bar 52 is connected to the side wall of the second ball joint 11, and the other ends of the spatial diagonal bar 52, the extended horizontal bar 53, and the spatial diagonal bar 52 all converge and connect. The second ball joint piece at the type A node in the end unit 5 is hinged to the second horizontal bar 55 and the second diagonal bar 56 through its own hole feature. The second ball joint piece is hinged to the second diagonal bar 56 and the second horizontal bar 55.

[0049] like Figure 7 As shown, the end element 5 generates a C-type node, and the semi-horizontal bar extends through the C-type node to construct an extended horizontal bar 53, so that the tangent of the end element is perpendicular to the horizontal plane.

[0050] like Figure 1 As shown, in some embodiments, the first power source is a first electric push rod 2, the telescopic end of the first electric push rod 2 is hinged to the corresponding parallel connector 15, and the fixed end of the first electric push rod 2 is also hinged to the parallel horizontal rod 13 through the parallel connector 15.

[0051] 12. For example Figure 1 As shown, in some embodiments, the second power source is a second electric push rod 315, and when the connecting unit 3 is composed of N+2 tetrahedrons 31, the second electric push rod 315 is provided with N+3 correspondingly, where N is a positive integer greater than or equal to 1.

[0052] Where N is greater than or equal to 1.

[0053] like Figure 1 As shown, in some embodiments, the telescopic end and the fixed end of the second electric push rod 315 are located between and hinged to each of the two first ball joints 311, and the fixed end of the second electric push rod 315 located at the head end is hinged to the second ball joint 11.

[0054] like Figure 4 As shown, in some embodiments, a third electric push rod 7 is provided at the tail end of the second ball joint 11 and the third ball joint 51, and the telescopic end of the third electric push rod 7 is hinged to the third ball joint 51, and the fixed end of the third electric push rod 7 is hinged to the second ball joint 11.

[0055] like Figure 5-6 As shown, each adjacent tetrahedron 31 is hinged through a type A node, that is, through the first ball joint piece 312 and the second ball joint piece 6. The type B node is hinged through the telescopic end of the electric push rod to the corresponding first ball joint 311, the fixed end of the second electric push rod 315 on the left is hinged to the second ball joint 11, and the telescopic end of the third electric push rod 7 on the right is hinged to the third ball joint 51.

[0056] Among them, such as Figure 5-6 As shown, the distance from each B-type node to the bottom plane of each tetrahedron 31 is O. When the truss is in an unbent state, the ground of the head unit 1, the connecting unit 3 and the end unit 5 are all on the same horizontal plane, and the extension ends of the first electric push rod 2, the second electric push rod 315 and the third electric push rod 7 are in their initial formation. The distance between two adjacent B-type nodes is .

[0057] like Figure 10 As shown, when the telescopic ends of the first electric push rod 2, the second electric push rod 315 and the third electric push rod 7 are shortened, that is, when the straight distance between two adjacent B-type nodes is shortened, the adjacent tetrahedron 31 will rotate around the straight line where the common A-type node is located as the axis. The head unit 1 is a fixed unit, so the subsequent connecting unit 3 and the end unit 5 will rotate relative to the front head unit 1. Therefore, the truss as a whole can bend upward.

[0058] like Figure 11 As shown, when the telescopic ends of the first electric push rod 2, the second electric push rod 315 and the third electric push rod 7 extend, that is, when the straight distance between two adjacent B-type nodes increases, the adjacent tetrahedron 31 will rotate around the straight line where the common A-type node is located as the axis. The head unit 1 is a fixed unit, so the subsequent connecting unit 3 and the end unit 5 will rotate relative to the front head unit 1. Therefore, the truss as a whole can bend downward.

[0059] like Figure 12 As shown, when all odd-numbered first electric actuators 2, second electric actuators 315 and third electric actuators 7 retract and all even-numbered first electric actuators 2, second electric actuators 315 and third electric actuators 7 extend, the ends of the deformable truss will twist counterclockwise relative to the beginning. The twisting phenomenon is more obvious in the tetrahedral truss closer to the end unit 5.

[0060] like Figure 13As shown, when all odd-numbered first electric actuators 2, second electric actuators 315 and third electric actuators 7 extend, and all even-numbered first electric actuators 2, second electric actuators 315 and third electric actuators 7 retract, the ends of the deformable truss will twist counterclockwise relative to the beginning. The twisting phenomenon is more obvious in the tetrahedral truss closer to the end unit.

[0061] In summary, in this invention, the first unit 1 hinges the vertical rod 12 and the horizontal rod through a first electric actuator 2 connector, thus forming a triangular mechanism with one side movable. The vertical rod 12 is then hinged to the short diagonal rod 14 through a second ball joint at a type A node, forming an isosceles triangular mechanism that can rotate around the vertical rod 12. Finally, by hinged to the first ball joint 311 at the type B node in each unit using the second electric actuator 315, when the first electric actuator 2 is retracted to its shortest stroke, the tetrahedral 31 truss as a whole is in an upward bending posture; when the first electric actuator 2 is advanced to its maximum stroke, the tetrahedral 31 truss as a whole is in a downward bending posture. Furthermore, by coordinating odd-numbered electric actuators with even-numbered electric actuators, the torsional amplitude can be varied, thus meeting different posture requirements under different environments.

[0062] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0063] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A deformable truss mechanism, characterized in that: include: The head unit has a first power source disposed on its outer side; A connecting unit, one side of which is connected to the head unit via a first connector; An end unit, wherein the end unit is connected to the other side of the connecting unit via a second connector; The connecting unit is composed of at least one tetrahedron, which includes a first ball joint, three first ball joint pieces, three first horizontal rods, and three first diagonal rods. One end of each of the three first diagonal rods is connected to the side wall of the first ball joint, and the other end of each of the three first diagonal rods is connected to the three first ball joint pieces. The three first horizontal rods are connected between each adjacent first ball joint piece. A second power source is provided at the end of the first ball joint. When the second power source shortens or extends, the connecting unit and the end unit bend upwards or downwards. The head unit includes a second ball joint, a vertical rod, a parallel horizontal rod, and two short diagonal rods. One end of each of the two short diagonal rods is disposed opposite to the side wall of the second ball joint, and the other end of each of the two short diagonal rods is connected to the side wall of the vertical rod by a fastener. Both ends of the vertical rod are connected to parallel connectors. One end of the parallel horizontal rod is hinged to one of the parallel connectors on one side, and the first power source is located between the other parallel connector and the other end of the parallel horizontal rod.

2. The deformable truss mechanism according to claim 1, characterized in that: When the connecting unit is composed of two or more tetrahedrons, the first horizontal bar of the two adjacent tetrahedrons is in a shared state and both ends of the first horizontal bar are connected to the first ball joint piece of the two adjacent tetrahedrons.

3. The deformable truss mechanism according to claim 1, characterized in that: The first connector is a connecting sleeve, and there are two connecting sleeves. The two connecting sleeves are fixedly mounted on a parallel horizontal rod, and the first horizontal rod is sleeved with the opening of the connecting sleeve.

4. The deformable truss mechanism according to claim 1, characterized in that: There are two second connectors, and each second connector is located at the connection between the first horizontal rod and the first ball joint piece.

5. A deformable truss mechanism according to claim 1, characterized in that: The end unit includes a third ball joint, a spatial diagonal bar, an extended horizontal bar, a semi-long horizontal bar, a second horizontal bar, and two second diagonal bars. One end of each of the two second diagonal bars is connected to the side wall of the third ball joint, and the other end of each of the two second diagonal bars is connected to a corresponding second ball joint piece. One end of the extended horizontal bar is connected to a second ball joint piece on one side, and one end of the semi-long horizontal bar is connected to a second ball joint piece on the other side. One end of the spatial diagonal bar is connected to the side wall of the second ball joint, and the other ends of the spatial diagonal bar, the extended horizontal bar, and the semi-long horizontal bar are all connected together.

6. A deformable truss mechanism according to claim 1, characterized in that: The first power source is a first electric push rod. The telescopic end of the first electric push rod is hinged to the corresponding parallel connector, and the fixed end of the first electric push rod is also hinged to the parallel horizontal rod through the parallel connector.

7. A deformable truss mechanism according to claim 1, characterized in that: The second power source is a second electric actuator, and when the connecting unit is composed of N+2 tetrahedrons, there are N+3 corresponding second electric actuators, where N is a positive integer greater than or equal to 1.

8. A deformable truss mechanism according to claim 7, characterized in that: The telescopic end and the fixed end of the second electric push rod are located between and hinged to each of the two first ball joints, and the fixed end of the second electric push rod located at the first end is hinged to the second ball joint.

9. A deformable truss mechanism according to claim 8, characterized in that: A third electric push rod is provided at the second ball joint and the third ball joint at the tail end, and the telescopic end of the third electric push rod is hinged to the third ball joint, while the fixed end of the third electric push rod is hinged to the second ball joint.

Images