A rudder surface folding mechanism and folding method suitable for underwater ultra-high-speed navigation

Abstract

The present invention relates to a rudder surface folding mechanism and a folding method suitable for underwater ultra-high-speed navigation, belonging to the technical field of underwater vehicles, and solving the problems of limited storage and transportation box / tube space, increased resistance of the rudder surface bulging mechanism, uncertain control force, and limited rudder surface structure space that are easily generated by the folding method in the prior art. The rudder surface folding mechanism of the present invention includes a rudder surface, a folding piston, a folding spring, a locking piston, a locking spring, and a locking slider; the folding spring can push the folding piston to move and then drive the rudder surface to rotate through the folding shaft to realize automatic deployment of the rudder surface, and the locking spring can push the locking piston to move and then drive the locking slider to move through the pull rod, so that the locking slider locks the deployed rudder surface. The rudder surface folding mechanism of the present invention realizes automatic deployment and automatic locking of the rudder surface in the folded state.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and in particular to a rudder surface folding mechanism and a folding method thereof suitable for underwater ultra-high-speed navigation. Background Art

[0002] Underwater ultra-high-speed navigation refers to a navigation speed of not less than 100m / s. Due to the influence of cavitation problems, conventional streamlined airfoils are not suitable for control surfaces, but delta wings should be used. The delta wing adopts a wedge-shaped airfoil, which generally has a larger aspect ratio and a larger linear range of lift coefficient, and is suitable for underwater ultra-high-speed navigation. Due to the large aspect ratio of the delta wing and the limitations of storage and transportation space, the control surface needs to be folded. At present, the commonly used folding forms of the rudder surface are submersible type, transverse folding type, and torsion element longitudinal folding type.

[0003] The submersible rudder folding mechanism has a slot on the vehicle body. When the vehicle is in the storage box / cylinder, the rudder dives into the slot. After the vehicle is out of the box / cylinder, the rudder is ejected. The submersible rudder folding mechanism requires corresponding space inside the vehicle. However, there is an engine nozzle and a steering gear inside the rudder position of an underwater ultra-high-speed vehicle, so there is not enough space, so the submersible folding form is not applicable.

[0004] The folding mechanism of the transverse folding rudder surface is divided into two parts: the root of the rudder surface and the outer wing of the rudder surface. The outer wing of the rudder surface is folded around the rotating shaft, and the torsion bar mechanism is used at the rotating shaft. There are several defects in the transverse folding of the delta wing. First, after the transverse folding, the radial volume occupied is still large, which leads to the need for a larger volume space requirement for the storage box / cylinder; second, the delta wing has a large aspect ratio, and there is insufficient space for the arrangement of the rotating shaft torsion spring mechanism; third, the rotating shaft mechanism causes the rudder surface airfoil to have a bulge, which increases the navigation resistance. At the same time, the cavitation problem of the rotating shaft bulge will greatly increase the uncertainty of the rudder surface control force; fourth, the rotating shaft is located in the middle of the rudder surface airfoil, which will affect the overall stiffness of the rudder surface.

[0005] The longitudinal folding type of torsion element is suitable for rudders with a large aspect ratio. The rudder is folded along the longitudinal axis of the missile, and its rotating shaft is arranged at the root of the rudder. The rotating shaft torsion element mechanism is arranged horizontally. The horizontal arrangement of the torsion element causes a large bulge to appear in the horizontal direction of the fluid shape of the aircraft, which will also cause problems such as increased resistance and uncertain control force (caused by cavitation). Summary of the invention

[0006] In view of the above analysis, the present invention aims to provide a rudder surface folding mechanism and a folding method suitable for underwater ultra-high-speed navigation, so as to solve the problems easily caused by the existing folding method, such as limited space for storage and transportation boxes / cylinders, increased resistance of the rudder surface bulge mechanism and uncertain control force, and limited space of the rudder surface structure.

[0007] The purpose of the present invention is mainly achieved through the following technical solutions:

[0008] A rudder surface folding mechanism suitable for underwater ultra-high-speed navigation comprises: a rudder surface rotatably mounted on a steering gear shaft via a folding shaft;

[0009] A folding elastic component, when the rudder surface is in a folded state, the folding elastic component is in a compressed state;

[0010] The locking elastic component is in a compressed state when the rudder surface is in a folded state; when the rudder surface is in an unfolded state, the locking elastic component can constrain the rotation of the rudder surface.

[0011] Furthermore, the folding elastic component and the locking elastic component are both sleeved inside the steering gear rotating shaft.

[0012] Furthermore, the locking elastic component includes: a locking slider and a locking spring; a slide groove is provided on the upper end surface of the servo shaft, and the locking slider slides in cooperation with the slide groove; when the locking slider slides relative to the slide groove, the locking slider can drive the locking spring to compress or extend.

[0013] Furthermore, the locking slider includes: a support block and a slider; the slider is slidably matched with the slide groove; the support block is in contact with the rudder surface; the support block has a contact arc surface and a contact plane; the contact arc surface is in line contact with the arc surface of the end of the rudder surface, and can squeeze the locking slider to slide when the rudder surface rotates; when the rudder surface is in an expanded state, the contact plane maintains surface contact with the bottom plane of the rudder surface.

[0014] Furthermore, the folding elastic component includes: a folding piston and a folding spring; the folding spring is sleeved on the outside of the folding piston; a first bracket and a hook are provided on the upper part of the folding piston; the first bracket is used to limit the axial displacement of the folding spring; when the rudder surface is folded, the hook is pressed down by the folding shaft, thereby compressing the folding spring.

[0015] Furthermore, a cover is fixedly installed below the steering gear shaft; a folding spring guide rod and a locking spring guide rod are provided on the cover; the folding spring guide rod and the locking spring guide rod are perpendicular to the cover, and are fixedly connected to the cover or are an integral structure.

[0016] Furthermore, the folding piston is sleeved on the outside of the folding spring guide rod and can slide relatively; the locking elastic component also includes: a locking piston and a connecting rod; the locking piston is sleeved on the outside of the locking spring guide rod; the upper part of the locking piston is hinged to one end of the connecting rod; the other end of the connecting rod is hinged to the support block.

[0017] Furthermore, the folding shaft comprises: a pin claw and a pin; the pin is fixedly mounted at the end of the pin claw; the pin claw rotates synchronously with the rudder surface;

[0018] A pin groove is arranged on the hook claw, and a pin is clamped in the pin groove and can slide relatively; when the pin claw rotates, the hook claw and the folding spring are pressed down by the pin.

[0019] Furthermore, the folding shaft also includes: a shaft and a fixing member; the fixing member is rotatably mounted on the steering gear shaft; the shaft is sleeved on the fixing member and fixedly connected; the steering gear is sleeved on the shaft and fixedly connected; the pin claw rotates synchronously with the shaft.

[0020] A folding method for a rudder surface folding mechanism suitable for underwater ultra-high-speed navigation comprises the following steps:

[0021] Step S1: Assembling the control surface folding mechanism;

[0022] Step S2: Rotate the rudder surface so that it is perpendicular to the steering gear shaft;

[0023] During the rotation of the rudder surface, the rotating shaft, the pin claw and the pin of the folding rotating shaft rotate synchronously. When the pin claw rotates, the folding piston and the folding spring are pressed down through the pin; at the same time, the end of the rudder surface squeezes the locking slider, so that the locking slider slides along the slide groove. When the locking slider slides along the slide groove, it drives the pull rod to deflect, thereby pressing down the locking piston and the locking spring;

[0024] Step S3: using the inner wall of the storage box / storage tube of the aircraft to limit the rotation of the rudder surface, or setting a magnesium belt between the two rudder surfaces of the two groups of rudder surface folding mechanisms on the symmetry plane of the aircraft to limit the rotation of the rudder surface.

[0025] The technical solution of the present invention can achieve at least one of the following effects:

[0026] 1. The present invention proposes a rudder folding mechanism suitable for underwater ultra-high-speed navigation, that is, a compression spring is used to control the torsion mode of the rudder to achieve folding storage, while solving the problems of limited storage box / tube space, increased resistance of the rudder bulging mechanism and uncertain control force, and limited rudder structure space. The rudder folding mechanism of the present invention is suitable for the rudder of a wedge-shaped wing and can achieve the folding of the wedge-shaped wing.

[0027] 2. The folding direction of the rudder surface of the present invention is the direction of the trailing edge of the airfoil. The radial space of the storage box / cylinder occupied in the folded state is greatly reduced compared with the traditional folding method. Through the reasonable design of the aircraft, the rudder surface in the folded state can be achieved without protruding from the aircraft shape, thereby minimizing the radial space occupancy rate.

[0028] 3. The present invention locks the rudder surface by means of a locking slider. After the rudder surface is unfolded, the bottom plane of the rudder surface contacts the upper surface of the locking slider, and the locking slider contacts the bottom surface of the rudder surface to prevent the rudder surface from rotating. The rotational freedom of the rudder surface is limited by the locking slider, so that the rudder surface is locked in position when it moves into place.

[0029] 4. The folding spring of the present invention can provide a driving force to rotate the rudder surface. The elastic force of the folding spring can move the folding piston upward, thereby driving the folding shaft to rotate. After the restraining force on the rudder surface is released, the rudder surface can be automatically unfolded. The locking spring can push the locking piston to move and then drive the locking slider to move through the pull rod, so that the locking slider locks the unfolded rudder surface. The rudder surface folding mechanism of the present invention realizes automatic unfolding and automatic locking of the rudder surface in the folded state.

[0030] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0032] Figure 1 The rudder surface folding mechanism of the present invention;

[0033] Figure 2 It is a right side view of the rudder surface folding mechanism of the present invention;

[0034] Figure 3 It is a rear view of the rudder surface folding mechanism of the present invention;

[0035] Figure 4 A top view of the rudder surface folding mechanism of the present invention;

[0036] Figure 5 This is a three-dimensional diagram of the rudder surface folding mechanism of the present invention without the steering gear rotating shaft;

[0037] Figure 6 It is a right side view of the rudder surface folding mechanism of the present invention after removing the steering gear rotating shaft;

[0038] Figure 7 This is a front view of the rudder surface folding mechanism of the present invention without the steering gear shaft;

[0039] Figure 8 It is a top view of the rudder surface folding mechanism of the present invention without the steering gear rotating shaft;

[0040] Fig. 9 The rudder surface of the rudder surface folding mechanism of the present invention;

[0041] Fig.10 The steering gear shaft of the rudder surface folding mechanism of the present invention;

[0042] Fig.11 It is a right side view of the steering gear shaft of the rudder surface folding mechanism of the present invention;

[0043] Fig.12 It is a front view of the steering gear shaft of the rudder surface folding mechanism of the present invention;

[0044] Fig.13 A top view of the steering gear shaft of the rudder surface folding mechanism of the present invention;

[0045] Fig.14 A bottom view of the steering gear shaft of the rudder surface folding mechanism of the present invention;

[0046] Fig.15 A folding shaft of the rudder surface folding mechanism of the present invention;

[0047] Fig.16 A cover for the rudder surface folding mechanism of the present invention;

[0048] Fig.17 It is a front view of the cover of the rudder surface folding mechanism of the present invention;

[0049] Fig.18 A three-dimensional diagram of a folding piston of a rudder surface folding mechanism of the present invention;

[0050] Fig.19 A locking slider of the rudder surface folding mechanism of the present invention;

[0051] Fig. 20 A three-dimensional diagram of a locking piston of the rudder surface folding mechanism of the present invention;

[0052] Fig.21 It is a front view of the locking piston of the rudder surface folding mechanism of the present invention;

[0053] Fig. 22 It is a left side view of the locking piston of the rudder surface folding mechanism of the present invention;

[0054] Fig.23 A connecting rod of the rudder surface folding mechanism of the present invention;

[0055] Fig.24 A cross-sectional view taken along the BB direction of the folded state of the rudder surface folding mechanism of the present invention;

[0056] Fig.25 A cross-sectional view taken along the BB direction of the unfolded state of the rudder surface folding mechanism of the present invention;

[0057] Fig.26 A cross-sectional view taken along the AA direction of the folded state of the rudder surface folding mechanism of the present invention;

[0058] Fig. 27 It is a cross-sectional view along the AA direction of the unfolded state of the control surface folding mechanism of the present invention.

[0059] Reference numerals:

[0060] 1-rudder surface; 2-servo shaft; 3-folding shaft; 4-cover; 5-folding piston; 6-locking slider; 7-locking piston; 8-connecting rod; 9-locking spring; 10-folding spring;

[0061] 101-wing surface; 102-wing root; 103-shaft hole; 104-keyway;

[0062] 201-first threaded hole; 202-folding spring hole; 203-locking spring hole; 204-baffle; 205-sliding groove; 206-first movable groove; 207-second movable groove; 208-first sealing groove;

[0063] 301-shaft; 302-flat key; 303-pin claw; 304-pin; 305-fixing piece

[0064] 401 - second sealing groove; 402 - folding spring guide rod; 403 - locking spring guide rod; 404 - second threaded hole;

[0065] 501-first conduit; 502-first bracket; 503-hooking claw; 504-pin groove;

[0066] 601-support block; 602-slider; 603-hinge shaft;

[0067] 701 - second conduit; 702 - second bracket; 703 - ear. DETAILED DESCRIPTION

[0068] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0069] Example 1

[0070] A specific embodiment of the present invention discloses a rudder folding mechanism suitable for underwater ultra-high-speed navigation, the rudder folding mechanism comprising: a rudder 1, a steering gear shaft 2, a folding shaft 3, a cover 4, a folding elastic component and a locking elastic component, such as Figure 1 , Figure 5 shown.

[0071] Among them, Figure 1-4As shown, the rudder surface 1 is rotatably mounted above the steering gear shaft 2 via the folding shaft 3. When the rudder surface is in the folded state, the folding elastic component is in a compressed state; when the rudder surface is in the folded state, the locking elastic component is in a compressed state; when the rudder surface is in the unfolded state, the locking elastic component can restrict the rotation of the rudder surface. Further, the folding elastic component and the locking elastic component are both sleeved inside the steering gear shaft 2.

[0072] Furthermore, the cover 4 is fixedly mounted on the bottom of the steering gear shaft 2. Fig.16 As shown, a folding spring guide rod 402 and a locking spring guide rod 403 are provided on the cover 4; the folding spring guide rod 402 and the locking spring guide rod 403 are perpendicular to the cover 4, and are fixedly connected to the cover 4 or are an integral structure.

[0073] In a specific implementation of the present invention, the folding elastic component includes: a folding piston 5 and a folding spring 10.

[0074] Among them, Figure 5-8 As shown, the folding piston 5 is sleeved on the outside of the folding spring guide rod 402, and the two can slide relative to each other; or in other words, the folding piston 5 is sleeved on the folding spring guide rod 402, and the two can slide relative to each other. The folding spring 10 is sleeved on the outside of the folding piston 5; at the same time, the folding spring 10 is also sleeved on the outside of the folding spring guide rod 402.

[0075] Specifically, Fig.18 As shown, the folding piston 5 includes: a first conduit 501, a first bracket 502 and a hook 503. The lower part of the folding piston 5 is provided with a first conduit 501, and the first conduit 501 is sleeved on the folding spring guide rod 402 and can slide relatively; the upper part of the folding piston 5 is provided with a first bracket 502 and a hook 503; the first bracket 502 is used to limit the axial displacement of the folding spring; specifically, the folding spring 10 is limited between the upper surface of the cover 4 of the first bracket 502, that is, the two ends of the folding spring 10 are against the upper surface of the cover 4 and the lower surface of the first bracket 502. When the rudder surface 1 is in the folded state, the hook 503 is pressed down by the folding shaft 3, thereby compressing the folding spring 10.

[0076] In a specific implementation of the present invention, the locking elastic component includes: a locking slider 6 , a locking piston 7 , a connecting rod 8 and a locking spring 9 .

[0077] Among them, Figure 5-8 As shown, the locking piston 7 is sleeved on the outside of the locking spring guide rod 403; the upper part of the locking piston 7 is hinged to one end of the connecting rod 8; and the other end of the connecting rod 8 is hinged to the locking slider 6. Figure 5 , 20-21, a second bracket 702 is provided on the locking piston 7; the second bracket 702 is used to limit the axial displacement of the locking spring 9; the locking spring 9 is restricted between the cover 4 and the second bracket 702, that is, the two ends of the locking spring 9 are respectively against the upper surface of the cover 4 and the lower surface of the second bracket 702.

[0078] Furthermore, if Fig.10 , Fig.11 As shown, a slide groove 205 is provided on the upper end surface of the steering gear shaft 2, and the locking slider 6 is slidably matched with the slide groove 205; when the locking slider 6 slides relative to the slide groove 205, the locking slider 6 can drive the locking spring 9 to compress or extend. Specifically, when the locking slider 6 slides along the slide groove 205 on the upper surface of the steering gear shaft 2, the locking slider 6 can drive the locking piston 7 to move up and down relative to the locking spring guide rod 403 through the connecting rod 8.

[0079] Furthermore, if Fig.19 As shown, the locking slider 6 includes: a support block 601 and a slider 602; the slider 602 is slidably matched with the slide groove 205; the support block 601 is in contact with the rudder surface 1; the support block 601 has a contact arc surface and a contact plane; the contact arc surface is in line contact with the arc surface at the end of the rudder surface, and can squeeze the locking slider 6 to slide when the rudder surface 1 rotates; when the rudder surface 1 is in the unfolded state, the contact plane maintains surface contact with the bottom plane of the rudder surface. When the rudder surface 1 is in surface contact with the locking slider 6, the locking slider 6 can limit the rotation of the rudder surface 1.

[0080] like Fig.13 As shown, a second movable groove 207 is provided above the steering gear shaft 2 , and when the locking slider 6 slides along the sliding groove 205 , the upper end of the connecting rod 8 moves left and right in the second sliding groove 207 .

[0081] like Fig.14 As shown, a folding spring hole 202 and a locking spring hole 203 are provided on the servo shaft 2, wherein the folding spring 10, the folding piston 5 and the folding spring guide rod 402 are all arranged in the folding spring hole 202, and the locking spring 9, the locking piston 7 and the locking spring guide rod 403 are all arranged in the locking spring hole 203.

[0082] Furthermore, a cover 4 is fixedly installed below the steering gear shaft 2 .

[0083] like Fig.14 , Fig.16 As shown, the steering gear shaft 2 is further provided with a first threaded hole 201 , and correspondingly, the cover 4 is provided with a second threaded hole 404 , and screws are installed in the first threaded hole 201 and the second threaded hole 404 to fix the steering gear shaft 2 and the cover 4 together.

[0084] Furthermore, if Fig. 9As shown, the rudder surface 1 includes: an airfoil 101 and an airfoil root 102 ; an axial hole 103 is provided on the airfoil root 102 ; a keyway 104 is provided on the axial hole 103 ; the rudder surface 1 is fixedly connected to the folding shaft 3 via the axial hole 103 and the keyway 104 .

[0085] Furthermore, if Fig.15 As shown, the folding shaft 3 includes: a shaft 301 , a flat key 302 , a pin claw 303 , a pin 304 and a fixing member 305 .

[0086] Among them, a flat key 302 is set on the rotating shaft 301, the rotating shaft 301 cooperates with the shaft hole 103 of the rudder surface 1, and the flat key 302 cooperates with the key slot 104 of the rudder surface 1 to achieve a fixed connection between the rotating shaft 301 and the rudder surface 1.

[0087] There are two pin claws 303, which are symmetrically installed on both sides of the rotating shaft 301. Rectangular holes are provided on both sides of the rotating shaft 301, and rectangular parts are provided on the side of the pin claw 303. The rectangular parts are installed in the rectangular holes, so that the pin claw 303 can rotate synchronously with the rotating shaft 301. Since the rotating shaft 301 rotates synchronously with the rudder surface 1, the pin claw 303 also rotates synchronously with the rudder surface 1.

[0088] The pin claw 303 and the rotating shaft 301 are both provided with threaded holes, and the fixing member 305 is installed in the threaded hole, so that the pin claw 303 and the rotating shaft 301 can be fixed together with the fixing member 305.

[0089] A pin 304 is fixedly installed at the end of the pin claw 303, and the pin 304 is perpendicular to the pin claw 303. When the pin claw 303 rotates synchronously with the rudder surface 1, the pin 304 also rotates synchronously. When the pin 304 rotates, it can press down or release the folding piston 5; specifically, the folding piston 5 is provided with a hook 503, and the hook 503 is provided with a pin groove 504, and the pin 304 is clamped in the pin groove 504 and can slide relatively; when the pin claw 303 rotates, the hook 503 and the folding spring 10 are pressed down by the pin 304.

[0090] Furthermore, the fixing member 305 is rotatably mounted on the steering gear shaft 2; the shaft 301 is sleeved on the fixing member 305 and fixedly connected; the steering gear 1 is sleeved on the shaft 301 and fixedly connected; when the fixing member 305 rotates relative to the steering gear shaft 2, the rudder surface 1 rotates relative to the steering gear shaft 2.

[0091] That is to say, Fig.24 As shown, when the control surface 1 is in the folded state, the pin 304 presses down the folding piston 5, and the folding spring 10 is in the maximum compression state.

[0092] like Fig.25As shown, when the control surface 1 is in the open state, the pin 304 releases the folding piston 5, and the folding spring 10 is in the longest state. It is worth noting that the folding spring 10 is always in a compressed state, and the spring force provided by the folding spring 10 can keep the control surface 1 in the open state or have a tendency to unfold.

[0093] like Fig.26 As shown, when the rudder surface 1 is in the folded state, the lower end of the rudder surface 1 squeezes the contact arc surface of the support block 601, and the locking slider 6 is squeezed by the end of the rudder surface 1 at the left end of the slide groove 205 and the position is fixed, so that the upper end of the connecting rod 8 is located at the left end of the second movable groove 207, and the lower end of the connecting rod 8 presses down the locking piston 7, and the locking piston 7 compresses the locking spring 9, and the locking spring 9 is in the maximum compression state.

[0094] like Fig. 27 As shown, when the rudder surface 1 is in the unfolded state, the contact plane of the support block 601 of the locking slider 6 is in contact with the bottom plane of the rudder surface 1, and the locking slider 6 can slide in the slide groove 205. The locking spring 9 extends to drive the locking piston 7 to rise, and the locking piston 7 drives the pull rod 8 to deflect, so that the upper end of the pull rod 8 slides to the right end of the second movable groove 207, and the locking slider 6 also slides to the right end of the slide groove 205 synchronously.

[0095] The following describes the specific structure of each component:

[0096] 1) The structure of the rudder surface 1 is as follows Fig. 9 As shown:

[0097] The rudder surface 1 is composed of an airfoil 101 and a wing root 102. The airfoil 101 is a wedge-shaped airfoil, and the wing root 102 is a rectangular structure. The wing root 102 is in clearance with the rectangular groove of the steering gear shaft 2. The normal control force of the airfoil 101 is transmitted to the steering gear shaft 2 through the baffles 204 on both sides of the rectangular groove of the steering gear shaft 2. Fig.25 As shown. Preferably, the rectangular groove width tolerance of the servo shaft 2 is H7, and the width tolerance of the wing root 102 is h6, or the rectangular groove width tolerance of the servo shaft 2 is H8, and the width tolerance of the wing root 102 is h7. Furthermore, an axial hole 103 and a keyway 104 are provided on the wing root 102, and the axial hole 103 and the folding shaft 3 are installed in a transition fit. Preferably, the axial hole diameter tolerance of the wing root 102 is H7, and the diameter tolerance of the folding shaft 3 is k6, or the axial diameter hole tolerance of the wing root 102 is H8, and the diameter tolerance of the folding shaft 3 is k7. The wing root 102 and the folding shaft 3 limit the rotational freedom of the rudder surface 1 through the flat key 302 and the keyway 104. As shown Fig. 27 As shown, the axial force of the wing surface 101 is transmitted to the steering gear shaft 2 through the folding shaft 3. The design of the rudder surface 1 should be refined (i.e., the redundant part is removed) according to the interference with other structures during the rotation process. Preferably, the rudder surface 1 is made of aluminum alloy material and the surface is oxidized.

[0098] 2) The structure of the steering gear shaft 2 is as follows Figure 10-14 As shown:

[0099] The steering gear shaft 2 is radially mounted on the aircraft. The rotating body structure part (i.e. the cylindrical part) of the steering gear shaft 2 is located inside the aircraft, and the rectangular groove formed by the two baffles 204 protrudes from the surface of the aircraft.

[0100] There are three holes at the bottom of the steering gear shaft 2, namely two folding spring holes 202 and one locking spring hole 203, which are used to install the folding spring 10 and the locking spring 9 respectively. The diameter of the hole is 1 mm larger than the outer diameter of the spring, and the depth of the hole is determined according to the motion range of the spring movable mechanism.

[0101] Four first threaded holes 201 are provided at the bottom of the steering gear shaft 2 for installing the cover 4 .

[0102] The steering gear shaft 2 is provided with three movable grooves according to the range of motion of the folding piston 5 and the locking piston 7. They are two first movable grooves 206 and one second movable groove 207. The hook 503 of the folding piston 5 extends out of the first movable groove 206. There are two first movable grooves 206. Correspondingly, there are two groups of the folding piston 5 and the folding spring 10. The connecting rod 8 extends out of the second movable groove 207.

[0103] The large diameter rotary body of the steering gear shaft 2 is provided with a first sealing groove 208. The large diameter rotary body of the steering gear shaft 2 is provided with a slide groove 205 for locking the front and rear sliding of the slider 6. The slide groove 205 adopts a wedge structure to reduce the friction between the locking slider 6 and the slide groove.

[0104] The rectangular groove of the steering gear shaft 2 is formed by the baffles 204 on both sides. The baffles 204 on both sides are provided with shaft holes, and the shaft holes are installed with clearance fit with the folding shaft 3 .

[0105] Preferably, the diameter tolerance of the steering gear shaft 2 hole is H7, and the diameter tolerance of the folding shaft 3 is h6, or the diameter tolerance of the steering gear shaft 2 hole is H8, and the diameter tolerance of the folding shaft 3 is h7;

[0106] One side baffle plate 204 is provided with a keyway, and during the installation process, the folding shaft 3 is installed by the baffle plate 204 on the side with the keyway, and the other side baffle plate 204 has no keyway, so as to limit the folding shaft 3. The design of the rudder shaft 2 should be based on the interference with the rudder during the rotation of the rudder. Preferably, the servo shaft 2 is made of aluminum alloy and the surface is oxidized.

[0107] 3) The folding shaft 3 is composed of a shaft 301, a flat key 302, a pin claw 303, a pin 304 and a fixing member 305. Fig.15 shown.

[0108] The rotating shaft 301 is a rotating body structure, with square grooves on both sides, a threaded hole arranged in the axial direction, and a keyway on one side in the circumferential direction, on which a flat key 302 is installed.

[0109] The square boss of the pin claw 303 is inserted into the square groove of the rotating shaft 301; the pin claw 303 has a through hole in the axial direction, and the fixing member 305 is inserted through the through hole to fix the pin claw 303 and the rotating shaft 301;

[0110] The pin claw 303 and the pin 304 are connected by bonding or welding.

[0111] The fixing member 305 is connected to the rotating shaft 301 by means of a hexagon socket screw and a spring washer.

[0112] Preferably, the rotating shaft 301 is made of structural steel with a chrome-tin alloy plated on the surface, or stainless steel; the pin claw 303 is made of aluminum alloy with an oxidized surface; the pin 304 is made of stainless steel; and the fixing member 305 is made of stainless steel.

[0113] 4) The structure of the cover 4 is as follows Fig.16 , Fig.17 shown.

[0114] The cover 4 is provided with two folding spring guide rods 402 and one locking spring guide rod 403 .

[0115] The folding spring guide rod 402 of the cover 4 is installed in a clearance-matched manner with the conduit hole of the first conduit 501 of the folding piston 5 .

[0116] Preferably, the inner diameter tolerance of the first conduit hole of the folding piston 5 is H7, and the outer diameter tolerance of the folding spring guide rod 402 of the cover 4 is f6, or the inner diameter tolerance of the first conduit hole of the folding piston 5 is H8, and the outer diameter tolerance of the folding spring guide rod 402 of the cover 4 is f7. The folding spring guide rod 402 of the cover 4 acts to cooperate with the first conduit 501 of the folding piston 5 to increase the movement stability of the folding spring 10 and the folding piston 5.

[0117] The locking spring guide rod 403 of the cover 4 is installed in a clearance-matched manner with the conduit hole of the locking piston 7 .

[0118] Preferably, the inner diameter tolerance of the conduit hole of the locking piston 7 is H7, and the outer diameter tolerance of the locking spring guide rod 403 of the cover 4 is f6, or the inner diameter tolerance of the conduit hole of the locking piston 7 is H8, and the outer diameter tolerance of the locking spring guide rod 403 of the cover 4 is f7. The function of the locking spring guide rod 403 of the cover 4 is to work together with the conduit of the locking piston 7 to increase the movement stability of the locking spring 9 and the locking piston 7.

[0119] The length of the folding spring guide rod 402 of the cover 4 is determined according to the range of motion of the folding spring 10 and the folding piston 5, and the length of the locking spring guide rod 403 of the cover 4 is determined according to the range of motion of the locking spring 9 and the locking piston 7. The plug is a rotary structure, located at the root of the folding spring guide rod and the locking spring guide rod of the cover 4, and a second sealing groove 401 is provided on the plug part. The outer diameter of the plug is respectively matched with the corresponding folding spring hole 202 and locking spring hole 203 of the steering gear shaft 2. The plug functions to support the spring and seal the folding spring hole 202 and locking spring hole 203 of the steering gear shaft 2. The cover 4 is fixed to the steering gear shaft 2 by screws. Preferably, the cover 4 is made of aluminum alloy material with surface oxidation.

[0120] 5) The structure of the folding piston 5 is as follows Fig.18 As shown. The folding piston 5 is provided with a first conduit 501, and the inner diameter of the first conduit hole of the folding piston 5 is installed with a clearance fit with the outer diameter of the folding spring guide rod 402 of the cover 4. Preferably, the inner diameter tolerance of the conduit hole of the folding piston 5 is H7, and the outer diameter tolerance of the folding spring guide rod 402 of the cover 4 is f6, or the inner diameter tolerance of the conduit hole of the folding piston 5 is H8, and the outer diameter tolerance of the folding spring guide rod 402 of the cover 4 is f7. The function of the first conduit 501 of the folding piston 5 is to work together with the folding spring guide rod 402 of the cover 4 to increase the movement stability of the folding spring 10 and the folding piston 5. The length of the first conduit 501 of the folding piston 5 is determined according to the movement range of the folding spring 10 and the folding piston 5. The first bracket 502 of the folding piston 5 is a rotating body structure, which is used to support the folding spring 10. The hook 503 of the folding piston 5 is composed of two left and right hook-shaped structures, and a pin groove 504 is provided on the hook of the folding piston 5, and the pin groove 504 contacts the pin 304 of the folding shaft 3 to transmit the spring force. Preferably, the folding piston 5 is made of aluminum alloy material with an oxidized surface.

[0121] 6) The structure of the locking slider 6 is as follows Fig.19 As shown. For easy installation, the locking slider 6 adopts a split structure, which is composed of a support block 601 and a slider 602. The two sides of the slider 602 are wedge-shaped structures, which are installed in a clearance fit with the slide groove of the steering gear shaft 2 to play a role in motion guidance. Preferably, the slider 602 is made of polytetrafluoroethylene. The support block 601 and the slider 602 are connected by countersunk screws, and one end of the support block 601 is hinged to the connecting rod 8. Specifically, a hinge shaft 603 is provided below the support block 601 and is hinged to the connecting rod 8. Preferably, the support block 601 is made of stainless steel.

[0122] 7) The structure of the locking piston 7 is as follows Figure 20-22 The locking piston 7 is provided with a second conduit 701, and the inner diameter of the second conduit hole of the locking piston 7 is installed with clearance matching with the outer diameter of the locking spring guide rod 403 of the sealing cover 4.

[0123] Preferably, the inner diameter tolerance of the catheter hole of the locking piston 7 is H7, and the outer diameter tolerance of the locking spring guide rod 403 of the cover 4 is f6, or the inner diameter tolerance of the catheter hole of the locking piston 7 is H8, and the outer diameter tolerance of the locking spring guide rod 403 of the cover 4 is f7.

[0124] The second guide tube 701 of the locking piston 7 is used to work together with the locking spring guide rod 403 on the cover 4 to increase the movement stability of the locking spring 9 and the locking piston 7. The length of the second guide tube 701 of the locking piston 7 is determined according to the movement range of the locking spring 9 and the locking piston 7. The second bracket 702 of the locking piston 7 is a rotating body structure, which is used to support the locking spring 9. The lug 703 of the locking piston 7 is hinged to the connecting rod 8. Preferably, the locking piston 7 is made of aluminum alloy material with surface oxidation.

[0125] 8) The structure of connecting rod 8 is as follows Fig.23 One end of the connecting rod 8 is hinged to the locking slide 6, and the other end is hinged to the locking piston 7. The connecting rod 8 is preferably made of stainless steel.

[0126] 9) The ends of the locking spring 9 are ground and tightened, and the material is the spring stainless steel wire group B. One end of the locking spring 9 contacts the cover 4, and the other end contacts the locking piston 7 to transmit force.

[0127] 10) The ends of the folding spring 10 are tightly ground and the material is spring stainless steel wire group B. One end of the folding spring 10 contacts the cover 4 and the other end contacts the folding piston 5 to transmit force.

[0128] When implementing:

[0129] The control surface folding mechanism of the present invention has three states: a folding state, a moving state and an unfolding state.

[0130] (1) Folded state:

[0131] like Fig.24 , Fig.26 As shown, when the control surface 1 is in the folded state, the folding spring 10 and the locking spring 9 are both in the maximum compression state.

[0132] like Fig.26 As shown, the locking spring 9 is in a compressed state, and the upward spring force of the locking spring 9 is transmitted to the locking slider 6 via the locking piston 7 and the connecting rod 8, generating a force acting on the locking slider 6 to the right, that is, under the limiting effect of the slide groove 205 of the steering gear shaft 2, the locking slider 6 tends to slide to the right.

[0133] like Fig.24As shown, the upward spring force of the folding spring 10 is transmitted to the rudder surface 1 through the folding piston 5 and the folding shaft 3, generating a torque that can rotate the rudder surface 1 counterclockwise. At this time, the rudder surface 1 and the rudder surface folding mechanism are both restricted in the storage box / cylinder so that they cannot move, or the two rudder surfaces 1 are connected by a magnesium belt, and the rudder surface 1 is constrained by the magnesium belt.

[0134] Preferably, the inner wall of the storage box / cylinder is used to limit the rotation of the rudder surface 1, and the rotation constraint of the rudder surface 1 is automatically released after the aircraft leaves the box / cylinder; or a magnesium belt is arranged between the two rudder surfaces 1 on the symmetric plane of the aircraft to limit the rotation of the rudder surface 1, and the engine is ignited after the aircraft leaves the box / cylinder, the magnesium belt is disconnected, and the rotation constraint of the rudder surface 1 is released.

[0135] (2) Movement process:

[0136] After the rotation constraint of the rudder surface 1 is released, the rudder surface 1 generates a counterclockwise rotation torque under the action of the spring force of the folding spring 10 and rotates counterclockwise.

[0137] The locking slide block 6 always presses against the rudder surface 1 under the action of the spring force of the locking spring 9. As the contact surface between the rudder surface 1 and the locking slide block 6 changes, the locking slide block 6 moves to the right.

[0138] (3) Locked status:

[0139] like Fig.25 , Fig. 27 As shown, the rudder surface 1 moves to the vertical direction, and the locking slider 6 moves to the right end of the figure. The axial force on the rudder surface 1 is transmitted to the folding spring 10 in the steering gear shaft 2 through the folding shaft 3, and the normal force on the rudder surface 1 is transmitted to the steering gear shaft 2 through the rectangular groove baffle of the steering gear shaft 2. The bottom plane of the rudder surface 1 is in surface contact with the upper surface of the locking slider 6, and the rotational freedom of the rudder surface 1 is limited by the locking slider 6. At this point, the rudder surface 1 moves to the position and achieves position locking.

[0140] Example 2

[0141] A specific embodiment of the present invention provides a folding method for a rudder surface folding mechanism suitable for underwater ultra-high-speed navigation, comprising the following steps:

[0142] Step S1: Assemble the control surface folding mechanism; specifically:

[0143] Step S11: sequentially sleeve the folding piston 5 and the folding spring 10 on the folding spring guide rod 402 of the cover 4; sequentially sleeve the locking piston 7 and the locking spring 9 on the locking spring guide rod 403 of the cover 4; hinge the upper end of the locking piston 7 to one end of the connecting rod 8, and hinge the other end of the connecting rod 8 to the locking slider 6;

[0144] Step S12: sleeve the servo shaft 2 on the outside of the folding spring 10 and the locking spring 9, and make the locking slider 6 slide in the slide groove 205 on the servo shaft 2;

[0145] Step S13: hinge the control surface 1 to the steering gear shaft 2 via the folding shaft 3. The two pins 304 of the folding shaft 3 are respectively inserted into the pin grooves 504 of the two folding pistons 5, and the end of the control surface 1 contacts the locking slider 6.

[0146] Step S2: Rotate the rudder surface 1 so that the rudder surface 1 is perpendicular to the steering gear shaft 2; during the rotation of the rudder surface 1, the shaft 301, the pin claw 303 and the pin 304 of the folding shaft 3 rotate synchronously, and when the pin claw 303 rotates, the folding piston 5 and the folding spring 10 are pressed down through the pin 304; at the same time, the end of the rudder surface 1 squeezes the locking slider 6, so that the locking slider 6 slides along the slide groove 205, and when the locking slider 6 slides along the slide groove 205, it drives the pull rod 8 to deflect, thereby compressing the locking spring 9.

[0147] That is to say, during the folding process of the rudder surface 1, the elastic forces of the folding spring 10 and the locking spring 9 are overcome. After the external folding pressure on the rudder surface 1 is eliminated, the rudder surface 1 can automatically pop open under the elastic forces of the folding spring 10 and the locking spring 9. After popping open, the rudder surface 1 is coaxial with the steering gear shaft 2.

[0148] Step S3: The inner wall of the storage box / storage cylinder of the aircraft is used to limit the rotation of the rudder surface 1. After the aircraft leaves the storage box / storage cylinder, the rotation constraint of the rudder surface 1 is automatically released; or, a magnesium belt is set between the two rudder surfaces 1 of the two groups of rudder surface folding mechanisms on the symmetric plane of the aircraft to limit the rotation of the rudder surface 1. When the engine is ignited after the aircraft leaves the storage box / storage cylinder, the magnesium belt is disconnected to release the rotation constraint of the rudder surface 1.

[0149] After the rudder surface 1 is released from the rotation constraint, it springs open under the elastic force of the folding spring 10 and is in a vertical state, that is, the rudder surface 1 is coaxial with the steering gear shaft 2. After the rudder surface 1 is unfolded, the plane at the end of the rudder surface 1 maintains surface contact with the upper end surface of the locking slider 6. The plane fit between the end surface at the bottom of the rudder surface 1 and the upper end surface of the locking slider 6 keeps the rudder surface 1 from rotating and can maintain the unfolded state.

[0150] Compared with the prior art, the technical solution provided by this embodiment has at least one of the following beneficial effects:

[0151] 1. The rudder surface folding mechanism of the present invention is suitable for the rudder surface of a wedge-shaped wing and can realize the folding of the wedge-shaped wing.

[0152] 2. The folding direction of the rudder surface 1 of the present invention is the direction of the trailing edge of the airfoil. The radial space of the storage box / cylinder occupied in the folded state is greatly reduced compared with the traditional folding method. Through the reasonable design of the aircraft, the rudder surface 1 in the folded state can be achieved without protruding from the aircraft shape, thereby minimizing the radial space occupancy rate.

[0153] 3. The folding mechanism of the rudder surface 1 of the present invention has a small bulge area, which results in small additional resistance and small uncertainty in the generated control force;

[0154] 4. The locking method of the locking slider 6 adopted in the present invention has the following advantages over the conventional locking pin method: the force bearing method is obviously better than the locking pin. The force bearing method of the locking pin is shearing, and the strength of the available material is small, while the force bearing method of the locking slider 6 of the present invention is compression, and the strength of the available material is large; the structural bulge is obviously smaller than the locking pin method. The locking pin structure is arranged in the transverse direction of the folding mechanism, which will inevitably greatly increase the structural bulge area. All structures of the locking slider 6 of the present invention are arranged inside the steering gear shaft, and there is no structural bulge;

[0155] 5. All structures of the folding mechanism of the rudder surface 1 of the present invention are arranged inside the steering gear shaft 2. The maximum diameter of the steering gear shaft 2 is not greater than 45 mm, which meets the technical requirements that the rotating mechanism of the rudder surface 1 can realize folding and unfolding locking, and the mechanism can be rotated as a whole after unfolding to realize the hydrodynamic control of the vehicle.

[0156] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A rudder surface folding mechanism suitable for underwater ultra-high-speed navigation, characterized in that: include: The rudder surface (1) is rotatably mounted on the steering gear shaft (2) via a folding shaft (3); A folding elastic component, wherein when the rudder surface (1) is in a folded state, the folding elastic component is in a compressed state; A locking elastic component, wherein when the rudder surface (1) is in a folded state, the locking elastic component is in a compressed state; When the control surface (1) is in an unfolded state, the locking elastic component can constrain the rotation of the control surface (1); The locking elastic component comprises: a locking slider (6) and a locking spring (9); a sliding groove (205) is provided on the upper end surface of the steering gear shaft (2), and the locking slider (6) is slidably matched with the sliding groove (205); when the locking slider (6) and the sliding groove (205) slide relative to each other, the locking slider (6) can drive the locking spring (9) to be compressed or extended; The locking slider (6) comprises: a support block (601) and a slider (602); the slider (602) is slidably matched with the slide groove (205); the support block (601) is in contact with the rudder surface (1); the support block (601) has a contact arc surface and a contact plane; the contact arc surface is in line contact with the arc surface of the end of the rudder surface (1), and can squeeze the locking slider (6) to slide when the rudder surface (1) rotates; when the rudder surface (1) is in an unfolded state, the contact plane maintains surface contact with the bottom plane of the rudder surface (1); The folding elastic component comprises: a folding piston (5) and a folding spring (10); the folding spring (10) is sleeved on the outside of the folding piston (5); a first bracket (502) and a hook (503) are provided on the upper part of the folding piston (5); the first bracket (502) is used to limit the axial displacement of the folding spring (10); when the rudder surface (1) is folded, the hook (503) is pressed down by the folding shaft (3), thereby compressing the folding spring (10).

2. The rudder surface folding mechanism suitable for underwater ultra-high-speed navigation according to claim 1 is characterized in that: The folding elastic component and the locking elastic component are both sleeved inside the steering gear rotating shaft (2).

3. The rudder surface folding mechanism suitable for underwater ultra-high-speed navigation according to claim 2 is characterized in that: A cover (4) is fixedly mounted below the steering gear rotating shaft (2); a folding spring guide rod (402) and a locking spring guide rod (403) are provided on the cover (4); the folding spring guide rod (402) and the locking spring guide rod (403) are perpendicular to the cover (4), and are fixedly connected to the cover (4) or are an integral structure.

4. The rudder surface folding mechanism suitable for underwater ultra-high-speed navigation according to claim 3 is characterized in that: The folding piston (5) is sleeved on the outside of the folding spring guide rod (402) and can slide relatively; the locking elastic component also includes: a locking piston (7) and a connecting rod (8); the locking piston (7) is sleeved on the outside of the locking spring guide rod (403); the upper part of the locking piston (7) is hinged to one end of the connecting rod (8); the other end of the connecting rod (8) is hinged to the support block (601).

5. The rudder surface folding mechanism suitable for underwater ultra-high-speed navigation according to claim 4 is characterized in that: The folding shaft (3) comprises: a pin claw (303) and a pin (304); the pin (304) is fixedly mounted on the end of the pin claw (303); the pin claw (303) rotates synchronously with the rudder surface (1); The hook claw (503) is provided with a pin groove (504), and the pin (304) is clamped in the pin groove (504) and can slide relatively; when the pin claw (303) rotates, the hook claw (503) and the folding spring (10) are pressed down by the pin (304).

6. The rudder surface folding mechanism suitable for underwater ultra-high-speed navigation according to claim 5, characterized in that: The folding rotating shaft (3) further comprises: a rotating shaft (301) and a fixing member (305); the fixing member (305) is rotatably mounted on the steering gear rotating shaft (2); the rotating shaft (301) is sleeved on the fixing member (305) and fixedly connected; the rudder surface (1) is sleeved on the rotating shaft (301) and fixedly connected; the pin claw (303) rotates synchronously with the rotating shaft (301).

7. The folding method of the rudder surface folding mechanism suitable for underwater ultra-high-speed navigation according to claim 6, characterized in that: The following steps are involved: Step S1: Assembling the control surface folding mechanism; Step S2: rotating the control surface (1) so that the control surface (1) is perpendicular to the steering gear shaft (2); During the process of rotating the rudder surface (1), the rotating shaft (301), the pin claw (303) and the pin (304) of the folding rotating shaft (3) rotate synchronously. When the pin claw (303) rotates, it presses down the folding piston (5) and the folding spring (10) through the pin (304); at the same time, the end of the rudder surface (1) squeezes the locking slider (6), so that the locking slider (6) slides along the slide groove (205). When the locking slider (6) slides along the slide groove (205), it drives the pull rod (8) to deflect, thereby pressing down the locking piston (7) and the locking spring (9); Step S3: using the inner wall of the storage box / storage tube of the aircraft to limit the rotation of the rudder surface (1), or arranging a magnesium belt between the two rudder surfaces (1) of the two groups of rudder surface folding mechanisms on the symmetric plane of the aircraft to limit the rotation of the rudder surface (1).

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