A multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism

Abstract

A multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism, which relates to the technical field of aircraft. To solve the problem that the variants of existing aircraft are mainly achieved by changing the shape of local wings, which basically reflects single or two-dimensional deformation in a plane, and the deformation ability is relatively weak, and it still cannot meet the requirement of continuously changing the aerodynamic shape of the wing during the process of crossing a wide speed range from subsonic to hypersonic or from high altitude to space. This device can achieve four deformation forms: telescoping, variable sweep, bending, and torsion. The spanwise telescoping rate of this structure can reach 30%, the rear sweep angle is 36°, the spanwise bending angle in the extended state is ±30°, and the torsion angle can reach ±10°. The multi-dimensional deformable wing of this mechanism has more deformation methods, which improves the deformation ability, and thus meets the requirement of continuously changing the aerodynamic shape of the wing during the process of crossing a wide speed range from subsonic to hypersonic or from high altitude to space. The present invention is applicable to the field of deformable wings.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and particularly relates to a multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism. Background Art

[0002] At present, China will focus on continuously improving the comprehensive performance of the space transportation system, expanding diversified and convenient space access capabilities. Developing the space transportation system is a major national demand. Space transportation missions require aerospace vehicles to have the ability to fly over a large span in the aviation domain, near space, and space domain. Their flight speeds span subsonic, transonic, supersonic, and hypersonic speed regimes. Therefore, the flight environment and flight missions are extremely complex. The design of cross-domain aircraft systems is a high-level integration of aerospace technologies.

[0003] During a complete cross-domain round-trip flight, the environmental conditions and flight parameters of the aircraft are constantly changing during each flight stage. Different airspaces, low-speed flight, and hypersonic flight have completely different requirements for the aircraft's shape. The geometric shape of a fixed wing cannot achieve the optimal state, with relatively low flight efficiency, weak endurance, and poor wind resistance, and it cannot take into account the flight characteristics of both low and high speeds. Therefore, researching the technology of continuously variable aircraft has become a new hot development direction.

[0004] Since 2001, NASA in the United States has cooperated with the Massachusetts Institute of Technology to conduct a large number of preliminary research and exploration, and took the lead in proposing a conceptual scheme for deformable wings, which has triggered many countries to carry out design and application research on variable aircraft. A variable aircraft is a new concept of multi-purpose and multi-morphology aircraft that can perform adaptive active deformation based on the flight environment and mission requirements, thereby improving the flexibility, applicability, and utilization rate of the aircraft. So far, the variants of existing aircraft are mainly achieved by changing the shape of local wings. For example, the spanwise camber deformation of the wing, the folding and unfolding deformation of the wing, the change of the chord length, thickness, and the sweepback of the wing, etc. However, basically, it is a single or two-dimensional deformation within a plane, and the deformation ability is relatively weak, and it still cannot meet the requirements for continuously changing the aerodynamic shape of the wing during the cross-wide speed range and cross-large airspace flight of the aircraft from subsonic to hypersonic and from high altitude to space.

[0005] In summary, the variants of existing aircraft are mainly achieved by changing the shape of local wings, basically showing single or two-dimensional deformation within a plane, with relatively weak deformation ability, and still cannot meet the problem of continuously changing the aerodynamic shape of the wing during the cross-wide speed range from subsonic to hypersonic or from high altitude to space. Summary of the Invention

[0006] The present invention aims to solve the problem that the variants of existing aircraft mainly achieve deformation by changing the shape of local wings, which is basically reflected as deformation in a single or two dimensions within a plane, with relatively weak deformation ability and unable to meet the requirement of continuously changing the aerodynamic shape of the wing during the wide-speed-range process from subsonic to hypersonic or from high altitude to space. Therefore, a multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism is proposed.

[0007] A multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism of the present invention comprises at least four groups of wing combination unit modules; the four groups of wing combination unit modules are arranged in parallel in sequence;

[0008] The wing combination unit module includes a tetrahedron-octahedron combined framework 2 and a wing rib 1; one end of the tetrahedron-octahedron combined framework 2 is provided with the wing rib 1;

[0009] Furthermore, the tetrahedron-octahedron combined framework 2 includes a connecting rod 4, a first bottom fixing rod 5, a first rotary joint 6, a first driving motor 7, a second driving motor 8, a third driving motor 9, a fourth driving motor 10, a first rotary support 11, a triangular fixing frame I 12, a hinge 13, a triangular fixing frame II 14, a second rotary support 15, a fifth driving motor 16, a side fixing rod 17, a Hooke hinge joint II 18, a second rotary joint 20, a second bottom fixing rod 21, a third rotary joint 23, a side rotary rod 24, two Hooke hinge joints I 26, a connecting joint member 27, a fourth rotary joint 28, a composite rotary joint 29 and a fifth rotary joint 30;

[0010] The hypotenuse of the triangular fixing frame Ⅰ 12 is hingedly connected to the hypotenuse of the triangular fixing frame Ⅱ 14 through a hinge 13. One vertex of the triangular fixing frame Ⅰ 12 is hingedly connected to the bottom end of the fourth driving motor 10 through a first rotary support 11. The output end of the fourth driving motor 10 is hingedly connected to one vertex of the triangular fixing frame Ⅱ 14 through a second rotary support 15. A connecting rod 4 is provided on the lower surface of the triangular fixing frame Ⅱ 14 along the direction of the height of the triangle. The top end of the connecting rod 4 is provided with a first rotary joint 6, and the first rotary joint 6 is sleeved in the middle of the first bottom fixing rod 5. One end of the first bottom fixing rod 5 is hingedly connected to the bottom end of the fifth driving motor 16, and a Hooke joint Ⅱ 18 is sleeved on the bottom end and the output end of the fifth driving motor 16 respectively. The output end of the fifth driving motor 16 is hingedly connected to one end of the second bottom fixing rod 21 through a second rotary joint 20. The middle of the second bottom fixing rod 21 is sleeved with a third rotary joint 23, and the bottom end of the third rotary joint 23 is connected to the top end of the side rotary rod 24. The other end of the second bottom fixing rod 21 is hingedly connected to the other end of the first bottom fixing rod 5. A side fixing rod 17 is provided at each end of the two Hooke joints Ⅱ 18 on the fifth driving motor 16, and the top end of the side fixing rod 17 is hingedly connected to the end of the Hooke joint Ⅱ 18. The bottom ends of the two side fixing rods 17 are hingedly connected to one end of a compound rotary joint 29. The bottom end of the side rotary rod 24 is connected to one end of a connecting joint member 27 through one of the Hooke joints Ⅰ 26. The output end of the third driving motor 9 is connected to the bottom end of the second driving motor 8 through the other end of the connecting joint member 27. A fourth rotary joint 28 is provided at the connection between the bottom end of the second driving motor 8 and the other end of the connecting joint member 27. The output end of the second driving motor 8 is hingedly connected to the bottom end of the first driving motor 7 through one end of the other Hooke joint Ⅰ 26, and a fifth rotary joint 30 is provided at the connection between the output end of the second driving motor 8 and one end of the other Hooke joint Ⅰ 26. The bottom vertex of the triangular fixing frame Ⅱ 14 is hingedly connected to the other end of the other Hooke joint Ⅰ 26. The output end of the first driving motor 7 is hingedly connected to the bottom end of the third driving motor 9 through the other end of the compound rotary joint 29;

[0011] Further, one end of the second bottom fixing rod 21 is connected to the Hooke joint Ⅰ 26 through a cable 25;

[0012] Further, the other end of the second bottom fixing rod 21 is connected to the Hooke joint Ⅰ 26 through a cable 25;

[0013] Further, the other end of the first bottom fixing rod 5 is connected to the fifth rotary joint 30 through a cable 25;

[0014] Further, a first limiting ring 19 is provided at the connection between the Hooke joint Ⅱ 18 and the output end of the fifth driving motor 16;

[0015] Furthermore, a second limiting ring 22 is provided at the connection between the inner hole of the third rotary joint 23 and the outer surface of the second bottom fixing rod 21;

[0016] Furthermore, the tetrahedron-octahedron combined framework 2 further includes a connecting bracket 3, and a connecting bracket 3 is respectively provided on the hypotenuse sides of the triangular fixing bracket I 12 and the triangular fixing bracket II 14;

[0017] Furthermore, a composite skin 31 is provided between the wing ribs 1 of every two groups of wing combination unit modules;

[0018] Furthermore, during use, assuming the initial state of the variable wing is as Figure 1 shown, at this time, a tetrahedron framework is formed in the tetrahedron-octahedron combined framework 2 by the fourth driving motor 10, the first rotary support 11, the triangular fixing bracket I 12, the hinge 13, the triangular fixing bracket II 14 and the second rotary support 15;

[0019] Furthermore, an octahedron framework is formed by the connecting rod 4, the first bottom fixing rod 5, the first rotary joint 6, the first driving motor 7, the second driving motor 8, the third driving motor 9, the fifth driving motor 16, the side fixing rod 17, the Hooke's joint II 18, the second rotary joint 20, the second bottom fixing rod 21, the third rotary joint 23, the side rotary rod 24, two Hooke's joints I 26, the connecting joint member 27, the fourth rotary joint 28, the composite rotary joint 29 and the fifth rotary joint 30;

[0020] Control the synchronous movement of the second driving motor 8 and the fifth driving motor 16 in the octahedron framework and the fourth driver 10 in the tetrahedron framework, so that the side fixing rod 17 drives the tetrahedron framework to move, and the triangular fixing bracket I 12 in the tetrahedron framework makes an unfolding movement. The two compensate for each other. Through the expansion transmission of multiple groups of wing combination unit modules, a multi-dimensional variable wing is realized for variable span elongation movement;

[0021] If the driving motors in the octahedron framework do not move, control the synchronous driving of the driving motors in the tetrahedron framework. The tetrahedron framework serves as a driving unit to drive the wing combination unit module to move, and the multi-dimensional variable wing presents a variable sweep movement;

[0022] Furthermore, when the output end of the second driving motor 8 in the octahedron framework extends and the fifth driving motor 16 resets, the octahedron framework serves as a driving unit to drive the mechanism to move, and the fourth driver 10 in the tetrahedron framework resets. The working stroke is half of the stroke of the driver in the octahedron, and the multi-dimensional variable wing presents an upward bending movement, and vice versa is a downward bending movement. The bending amplitude can be finely adjusted by the first driving motor 7 and the third driving motor 9;

[0023] The combination drive of the octahedral framework and the tetrahedral framework enables the multi-dimensional deformable wing to have a greater range of deformation capabilities. The movements of each unit are decoupled, and the opposite movements of each module are controlled. For example, two wing combination unit modules are bent upward, and the other two wing combination unit modules are bent downward, or two wing combination unit modules are swept backward, and the other two wing combination unit modules are swept forward, and they are arranged in an interleaved parallel connection, so that the multi-dimensional deformable wing can present a torsional deformation state.

[0024] The present invention has the following beneficial effects compared with the prior art:

[0025] The present invention overcomes the shortcomings of the prior art. This device can achieve four deformation forms: telescopic, variable sweep, bending, and torsional deformation. The spanwise telescopic rate of this structure can reach 30%, the backward sweep angle is 36°, the spanwise bending angle in the extended state is ±30°, and the torsional angle can reach ±10°;

[0026] Moreover, this structure is simple, the production and installation are relatively convenient, it is suitable for large-scale production and manufacturing, and the manufacturing cost is low; the motor drive component is used to drive the wing deformation. Through the conversion of the polyhedron movement into a linear movement and the adjustment of the distributed drive sequence, the multi-dimensional continuous deformation of the mechanism is realized. The principle is simple and easy to control, and the response is fast;

[0027] In summary, the multi-dimensional deformable wing of this mechanism has more deformation methods, which improves the deformation ability, and further meets the requirement of continuously changing the aerodynamic shape of the wing during the process from subsonic to hypersonic or from high altitude to space. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a three-dimensional schematic diagram of a multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism according to the present invention;

[0029] Figure 2 is a three-dimensional schematic diagram of the tetrahedron-octahedron combined framework in a multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism according to the present invention;

[0030] Figure 3 is a three-dimensional schematic diagram of a multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism according to the present invention in the use state. DETAILED DESCRIPTION OF THE INVENTION

[0031] DETAILED DESCRIPTION OF THE INVENTION 1: In combination with Figures 1 to 3 This embodiment is described. A multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism described in this embodiment includes at least four groups of wing combination unit modules; the four groups of wing combination unit modules are arranged in parallel in sequence;

[0032] The described wing combination unit module includes a tetrahedron-octahedron combined framework 2 and wing ribs 1; one end of the tetrahedron-octahedron combined framework 2 is provided with wing ribs 1;

[0033] In this specific embodiment, with such a setting, four deformation forms, namely telescoping, variable sweepback, bending, and torsional deformation, can be achieved. The spanwise telescoping rate of this structure can reach 30%, the rear sweep angle is 36°, the spanwise bending angle in the extended state is ±30°, and the torsional angle can reach ±10°;

[0034] Moreover, this structure is simple, convenient for production and installation, suitable for large-scale production and manufacturing, and has a low manufacturing cost; an electric motor drive component is used to drive the wing deformation. Through the conversion of polyhedron movement into linear movement and the adjustment of the distributed drive sequence, multi-dimensional continuous deformation of the mechanism is realized. The principle is simple and easy to control, with a fast response.

[0035] Specific embodiment two: In combination with Figure 1 and Figure 2 This embodiment is described. This embodiment is a further limitation on the deformable wing described in the first specific embodiment. A multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism described in this embodiment, the tetrahedron-octahedron combined framework 2 includes a connecting rod 4, a first bottom edge fixing rod 5, a first rotary joint 6, a first driving motor 7, a second driving motor 8, a third driving motor 9, a fourth driving motor 10, a first rotary support 11, a triangular fixing frame I 12, a hinge 13, a triangular fixing frame II 14, a second rotary support 15, a fifth driving motor 16, a side fixing rod 17, a Hooke's joint II 18, a second rotary joint 20, a second bottom edge fixing rod 21, a third rotary joint 23, a side rotary rod 24, two Hooke's joints I 26, a connecting joint member 27, a fourth rotary joint 28, a composite rotary joint 29, and a fifth rotary joint 30;

[0036] The hypotenuse of the triangular fixing frame I 12 is hingedly connected to the hypotenuse of the triangular fixing frame II 14 through a hinge 13. One vertex of the triangular fixing frame I 12 is hingedly connected to the bottom end of the fourth driving motor 10 through a first rotating support 11. The output end of the fourth driving motor 10 is hingedly connected to one vertex of the triangular fixing frame II 14 through a second rotating support 15. A connecting rod 4 is arranged on the lower surface of the triangular fixing frame II 14 along the direction of the height of the triangle. The top end of the connecting rod 4 is provided with a first rotating joint 6, and the first rotating joint 6 is sleeved on the middle part of the first bottom fixing rod 5. One end of the first bottom fixing rod 5 is hingedly connected to the bottom end of the fifth driving motor 16. Hooke's joints II 18 are respectively sleeved on the bottom end and the output end of the fifth driving motor 16. The output end of the fifth driving motor 16 is hingedly connected to one end of the second bottom fixing rod 21 through a second rotating joint 20. The middle part of the second bottom fixing rod 21 is sleeved with a third rotating joint 23. The bottom end of the third rotating joint 23 is connected to the top end of the side rotating rod 24. The other end of the second bottom fixing rod 21 is hingedly connected to the other end of the first bottom fixing rod 5. Side fixing rods 17 are respectively arranged at the end parts of the two Hooke's joints II 18 on the fifth driving motor 16, and the top end of the side fixing rod 17 is hingedly connected to the end part of the Hooke's joint II 18. The bottom ends of the two side fixing rods 17 are hingedly connected to one end of a composite rotating joint 29. The bottom end of the side rotating rod 24 is connected to one end of a connecting joint member 27 through one of the Hooke's joints I 26. The output end of the third driving motor 9 is connected to the bottom end of the second driving motor 8 through the other end of the connecting joint member 27. A fourth rotating joint 28 is arranged at the connection part of the bottom end of the second driving motor 8 and the other end of the connecting joint member 27. The output end of the second driving motor 8 is hingedly connected to the bottom end of the first driving motor 7 through one end of the other Hooke's joint I 26, and a fifth rotating joint 30 is arranged at the connection part of the output end of the second driving motor 8 and one end of the other Hooke's joint I 26. The bottom vertex of the triangular fixing frame II 14 is hingedly connected to the other end of the other Hooke's joint I 26. The output end of the first driving motor 7 is hingedly connected to the bottom end of the third driving motor 9 through the other end of the composite rotating joint 29;

[0037] In this specific embodiment, when in use, assume that the initial state of the deformable wing is as Figure 1 shown. At this time, in the tetrahedron-octahedron combined framework 2, a tetrahedron framework is formed by the fourth driving motor 10, the first rotating support 11, the triangular fixing frame I 12, the hinge 13, the triangular fixing frame II 14 and the second rotating support 15;

[0038] Furthermore, an octahedron framework is formed by a connecting rod 4, a first bottom fixing rod 5, a first rotary joint 6, a first driving motor 7, a second driving motor 8, a third driving motor 9, a fifth driving motor 16, a side fixing rod 17, a Hooke's joint II 18, a second rotary joint 20, a second bottom fixing rod 21, a third rotary joint 23, a side rotary rod 24, two Hooke's joints I 26, a connecting joint member 27, a fourth rotary joint 28, a composite rotary joint 29, and a fifth rotary joint 30;

[0039] Control the synchronous movement of the second driving motor 8 in the octahedron framework, the fifth driving motor 16, and the fourth driver 10 in the tetrahedron framework, so that the side fixing rod 17 drives the tetrahedron framework to move, and the triangular fixing frame I 12 in the tetrahedron framework performs an unfolding movement. The two compensate for each other. Through the expansion and transmission of multiple wing combination unit modules, a multi-dimensional deformable wing realizes a variable-span elongation movement;

[0040] If the driving motors in the octahedron framework do not move, control the synchronous driving of the driving motors in the tetrahedron framework. The tetrahedron framework serves as a driving unit to drive the wing combination unit module to move, and the multi-dimensional deformable wing presents a variable-sweep movement;

[0041] Furthermore, when the output end of the second driving motor 8 in the octahedron framework extends and the fifth driving motor 16 resets, the octahedron framework serves as a driving unit to drive the mechanism to move, and the fourth driver 10 in the tetrahedron framework resets. The working stroke is half of the stroke of the driver in the octahedron, and the multi-dimensional deformable wing presents an upward bending movement. On the contrary, it is a downward bending movement. The bending amplitude can be fine-tuned through the first driving motor 7 and the third driving motor 9;

[0042] The combined drive of the octahedron framework and the tetrahedron framework can enable the multi-dimensional deformable wing to obtain a greater deformation ability. The movements of each unit are decoupled, and the opposite movements of each module are controlled. For example, two of the wing combination unit modules are bent upward, and the other two wing combination unit modules are bent downward, or two of the wing combination unit modules are swept backward, and the other two wing combination unit modules are swept forward, and they are arranged in an interleaved and parallel manner, so that the multi-dimensional deformable wing can present a torsional deformation state.

[0043] Specific Embodiment 3: Combine Figure 1 and Figure 2 to illustrate this embodiment. This embodiment is a further limitation on the deformable wing described in Specific Embodiment 2. For a multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism described in this embodiment, one end of the second bottom fixing rod 21 is connected to the Hooke's joint I 26 through a cable 25.

[0044] Specific Embodiment 4: Combine Figure 1 and Figure 2To describe this embodiment, this embodiment further limits the variable wing described in the third specific embodiment. For a multi-dimensional variable wing based on a regular tetrahedron-octahedron mechanism described in this embodiment, the other end of the second bottom fixing rod 21 is connected to the Hook hinge joint I 26 through a cable 25.

[0045] Specific embodiment five: Combining Figure 1 and Figure 2 To describe this embodiment, this embodiment further limits the variable wing described in the second specific embodiment. For a multi-dimensional variable wing based on a regular tetrahedron-octahedron mechanism described in this embodiment, the other end of the first bottom fixing rod 5 is connected to the fifth rotary joint 30 through a cable 25.

[0046] Specific embodiment six: Combining Figure 1 and Figure 2 To describe this embodiment, this embodiment further limits the variable wing described in the second specific embodiment. For a multi-dimensional variable wing based on a regular tetrahedron-octahedron mechanism described in this embodiment, a first limit ring 19 is provided at the connection between the Hook hinge joint II 18 and the output end of the fifth driving motor 16.

[0047] Specific embodiment seven: Combining Figure 1 and Figure 2 To describe this embodiment, this embodiment further limits the variable wing described in the second specific embodiment. For a multi-dimensional variable wing based on a regular tetrahedron-octahedron mechanism described in this embodiment, a second limit ring 22 is provided at the connection between the inner hole of the third rotary joint 23 and the outer surface of the second bottom fixing rod 21.

[0048] Specific embodiment eight: Combining Figure 1 and Figure 2 To describe this embodiment, this embodiment further limits the variable wing described in the second specific embodiment. For a multi-dimensional variable wing based on a regular tetrahedron-octahedron mechanism described in this embodiment, the tetrahedron-octahedron combined framework 2 further includes a connecting bracket 3; a connecting bracket 3 is provided on the hypotenuse side of each of the triangular fixing bracket I 12 and the triangular fixing bracket II 14.

[0049] Specific embodiment nine: Combining Figure 1 and Figure 2 To describe this embodiment, this embodiment further limits the variable wing described in the first specific embodiment. For a multi-dimensional variable wing based on a regular tetrahedron-octahedron mechanism described in this embodiment, a composite skin 31 is provided between the wing ribs 1 of each two groups of wing combination unit modules.

[0050] Working principle

[0051] During use, it is assumed that the initial state of the variable wing is as Figure 1 shown. At this time, in the tetrahedron-octahedron combined framework 2, a tetrahedron framework is formed by the fourth driving motor 10, the first rotating support 11, the triangular fixing frame I 12, the hinge 13, the triangular fixing frame II 14, and the second rotating support 15;

[0052] Furthermore, an octahedron framework is formed by the connecting rod 4, the first bottom fixing rod 5, the first rotating joint 6, the first driving motor 7, the second driving motor 8, the third driving motor 9, the fifth driving motor 16, the side fixing rod 17, the Hooke's joint II 18, the second rotating joint 20, the second bottom fixing rod 21, the third rotating joint 23, the side rotating rod 24, two Hooke's joints I 26, the connecting joint member 27, the fourth rotating joint 28, the composite rotating joint 29, and the fifth rotating joint 30;

[0053] Control the second driving motor 8 and the fifth driving motor 16 in the octahedron framework and the fourth driver 10 in the tetrahedron framework to move synchronously, so that the side fixing rod 17 drives the tetrahedron framework to move, and the triangular fixing frame I 12 in the tetrahedron framework makes an unfolding movement. The two compensate each other. Through the expansion and transmission of multiple wing combination unit modules, a multi-dimensional variable wing is realized for variable span elongation movement;

[0054] If the driving motors in the octahedron framework do not move, control the driving motors in the tetrahedron framework to drive synchronously. The tetrahedron framework, as a driving unit, drives the wing combination unit module to move, and the multi-dimensional variable wing presents a variable sweep movement;

[0055] Again, when the output end of the second driving motor 8 in the octahedron framework extends and the fifth driving motor 16 resets, the octahedron framework drives the mechanism to move as a driving unit, and the fourth driver 10 in the tetrahedron framework resets. The working stroke is half of the stroke of the driver in the octahedron. The multi-dimensional variable wing presents an upward bending movement, and vice versa is a downward bending movement. The bending amplitude can be fine-tuned through the first driving motor 7 and the third driving motor 9;

[0056] The combined drive of the octahedron framework and the tetrahedron framework can enable the multi-dimensional variable wing to obtain a greater deformation ability. The movements of each unit are decoupled, and the opposite movements of each module are controlled. For example, two of the wing combination unit modules are bent upward and the other two are bent downward, or two of the wing combination unit modules are swept backward and the other two are swept forward, and they are arranged in an interleaved and parallel manner, so that the multi-dimensional variable wing can present a torsional deformation state.

Claims

1. A multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism, characterized in that: At least four groups of wing combination unit modules; the four groups of wing combination unit modules are arranged in parallel in sequence; The described wing combination unit module includes a tetrahedron-octahedron combined framework (2) and wing ribs (1); one end of the tetrahedron-octahedron combined framework (2) is provided with wing ribs (1); The tetrahedron-octahedron combined framework (2) includes connecting rods (4), first bottom edge fixing rods (5), first rotary joints (6), first driving motors (7), second driving motors (8), third driving motors (9), fourth driving motors (10), first rotary supports (11), triangular fixing frames I (12), hinges (13), triangular fixing frames II (14), second rotary supports (15), fifth driving motors (16), side fixing rods (17), Hooke's joint II (18), second rotary joints (20), second bottom edge fixing rods (21), third rotary joints (23), side rotary rods (24), two Hooke's joints I (26), connecting joint members (27), fourth rotary joints (28), compound rotary joints (29) and fifth rotary joints (30); The hypotenuse of the triangular fixing frame I (12) is hingedly connected to the hypotenuse of the triangular fixing frame II (14) through a hinge (13). One vertex of the triangular fixing frame I (12) is hingedly connected to the bottom end of the fourth driving motor (10) through a first rotary support (11). The output end of the fourth driving motor (10) is hingedly connected to one vertex of the triangular fixing frame II (14) through a second rotary support (15). A connecting rod (4) is arranged on the lower surface of the triangular fixing frame II (14) along the direction of the height of the triangle. The top end of the connecting rod (4) is provided with a first rotary joint (6), and the first rotary joint (6) is sleeved in the middle of the first bottom fixing rod (5). One end of the first bottom fixing rod (5) is hingedly connected to the bottom end of the fifth driving motor (16). Hook hinge joints II (18) are respectively sleeved on the bottom end and the output end of the fifth driving motor (16). The output end of the fifth driving motor (16) is hingedly connected to one end of the second bottom fixing rod (21) through a second rotary joint (20). A third rotary joint (23) is sleeved in the middle of the second bottom fixing rod (21). The bottom end of the third rotary joint (23) is connected to the top end of the side rotary rod (24). The other end of the second bottom fixing rod (21) is hingedly connected to the other end of the first bottom fixing rod (5). Side fixing rods (17) are respectively arranged at the end parts of the two hook hinge joints II (18) on the fifth driving motor (16), and the top end of the side fixing rod (17) is hingedly connected to the end part of the hook hinge joint II (18). The bottom ends of the two side fixing rods (17) are hingedly connected to one end of a composite rotary joint (29). The bottom end of the side rotary rod (24) is connected to one end of a connecting joint member (27) through one of the hook hinge joints I (26). The output end of the third driving motor (9) is connected to the bottom end of the second driving motor (8) through the other end of the connecting joint member (27). A fourth rotary joint (28) is arranged at the connection part between the bottom end of the second driving motor (8) and the other end of the connecting joint member (27). The output end of the second driving motor (8) is hingedly connected to the bottom end of the first driving motor (7) through one end of the other hook hinge joint I (26). A fifth rotary joint (30) is arranged at the connection part between the output end of the second driving motor (8) and one end of the other hook hinge joint I (26). The bottom vertex of the triangular fixing frame II (14) is hingedly connected to the other end of the other hook hinge joint I (26). The output end of the first driving motor (7) is connected to the bottom end of the third driving motor (9) through the other end of the composite rotary joint (29).

2. The multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism according to claim 1, wherein: One end of the second bottom fixing rod (21) is connected to the hook hinge joint I (26) through a cable (25).

3. The multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism according to claim 2, characterized in that: The other end of the second bottom fixing rod (21) is connected to the hook hinge joint I (26) through a cable (25).

4. The multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism according to claim 1, characterized in that: The other end of the first bottom fixing rod (5) is connected to the fifth rotary joint (30) through a cable (25).

5. A multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism according to claim 1, characterized in that: A first limiting ring (19) is arranged at the connection part between the hook hinge joint II (18) and the output end of the fifth driving motor (16).

6. The multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism according to claim 1, characterized in that: A second limiting ring (22) is provided at the connection between the inner hole of the third rotary joint (23) and the outer surface of the second bottom fixing rod (21).

7. A multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism according to claim 1, characterized in that: The tetrahedron-octahedron combined framework (2) further includes a connection bracket (3); a connection bracket (3) is respectively provided on the hypotenuse sides of the triangular fixing bracket I (12) and the triangular fixing bracket II (14).

8. The multi-dimensional deformable wing based on a regular tetrahedron-octahedron mechanism according to claim 1, characterized in that: A composite skin (31) is provided between the wing ribs (1) of every two groups of wing combination unit modules.

Images