An aircraft wing surface actuating mechanism based on shape memory alloy wires

Abstract

The present invention belongs to the field of aircraft wing surface control, and specifically relates to an aircraft wing surface actuating mechanism based on shape memory alloy wires, which includes a base, a rotating mechanism, an elastic stabilizing member, two sets of driving mechanisms and two sets of elastic resetting members; the driving mechanism includes a temperature control member, a cooling plate and a shape memory alloy member I arranged on the cooling plate, the cooling plate is fixed on the base, the end of the shape memory alloy member I is fixedly connected with the rotating mechanism, and the temperature control member is connected with the shape memory alloy member I; one end of the elastic resetting member is fixedly connected with the base, and the other end is connected with the rotating mechanism; the two sets of driving mechanisms are symmetrically arranged on one side of the rotating mechanism, and the two sets of elastic resetting members are symmetrically arranged on the other side of the rotating mechanism; one end of the elastic stabilizing member is fixedly connected with the base, and the other end is connected with the rotating mechanism. The present invention has strong feasibility and can meet the load requirements of different types of aircraft wing surface actuation under the premise of considering size and mass constraints.

Description

Technical Field

[0001] The present invention belongs to the field of aircraft wing control, and particularly relates to an aircraft wing actuating mechanism based on shape memory alloy wires. Background Art

[0002] At present, traditional wing drive solutions generally use servos for driving. However, with the gradual development of lightweight and intelligent trends in aircraft design, traditional drive methods can no longer meet the design requirements, and volume and mass have become prominent problems restricting the development of traditional drive structures. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an aircraft wing actuating mechanism based on shape memory alloy wires that can meet the lightweight requirements and has rapid, precise actuation response.

[0004] The present invention provides an aircraft wing actuating mechanism based on shape memory alloy wires, including a base, a rotating mechanism, an elastic stabilizer, two sets of drive mechanisms, and two sets of elastic reset components;

[0005] The rotating mechanism is rotatably arranged on the base;

[0006] The drive mechanism includes a temperature control component, a cooling plate, and a shape memory alloy component I arranged on the cooling plate. The cooling plate is fixed on the base, the end of the shape memory alloy component I is fixedly connected to the rotating mechanism, and the temperature control component is connected to the shape memory alloy component I for controlling the temperature of the shape memory alloy component I;

[0007] One end of the elastic reset component is fixedly connected to the base, and the other end is connected to the rotating mechanism;

[0008] The two sets of drive mechanisms are symmetrically arranged on one side of the rotating mechanism, and the two sets of elastic reset components are symmetrically arranged on the other side of the rotating mechanism; or, the two sets of drive mechanisms are symmetrically arranged on one side of the rotating mechanism, and the two sets of elastic reset components are symmetrically arranged inside or outside the two sets of drive mechanisms;

[0009] One end of the elastic stabilizer is fixedly connected to the base, and the other end is connected to the rotating mechanism, and the elastic stabilizer has an elastic driving force for driving the rotating mechanism to return to the initial angle.

[0010] Furthermore, there are two sets of elastic stabilizers, and the two sets of elastic stabilizers are symmetrically arranged along the central axis of the rotating mechanism.

[0011] Furthermore, the shape memory alloy component I is in a filamentous structure, and the cooling plate is provided with receiving grooves arranged in a serpentine curve configuration, and the filamentous shape memory alloy component I is fitted and arranged in the receiving grooves.

[0012] Further, the temperature control member includes a power source, and both ends of the shape memory alloy member I are connected to the positive and negative electrodes of the power source.

[0013] Further, the rotating mechanism includes a rotating body rotatably disposed on the base, and driving and reset connection structures disposed on corresponding two sides of the rotating body. The shape memory alloy member I and the elastic reset member are both connected to the driving and reset connection structures, and a connecting shaft is disposed on a side of the rotating body away from the base.

[0014] Further, the driving and reset connection structure includes a convex block protruding from a side surface of the rotating body and a reset member fixing shaft disposed on the convex block. A fixing point of the shape memory alloy member I is further disposed on a side wall of the convex block. The shape memory alloy member I is fixedly connected to the fixing point of the shape memory alloy member I, and the elastic reset member is fixedly connected to the reset member fixing shaft.

[0015] Further, the elastic reset member is a spring, and the elastic stabilizing member is a high-elasticity rubber rope.

[0016] Further, the aircraft wing surface actuating mechanism based on a shape memory alloy wire further includes a locking mechanism. The locking mechanism includes a fixed bracket fixedly disposed on the base, a shape memory alloy member II and an elastic member disposed on the fixed bracket and facing a side wall of the rotating mechanism, and an arc-shaped locking plate disposed at the other ends of the shape memory alloy member II and the elastic member. The temperature control member is connected to the shape memory alloy member II, and a cooling fin is further disposed on the shape memory alloy member II.

[0017] The present invention also provides an aircraft, including an aircraft body, an aircraft wing surface actuating mechanism based on a shape memory alloy wire disposed inside the aircraft body, and a wing surface disposed outside the aircraft body. A rotating mechanism in the aircraft wing surface actuating mechanism based on a shape memory alloy wire is fixedly connected to the wing surface, and a controller connected to a temperature control member in the aircraft wing surface actuating mechanism based on a shape memory alloy wire is further included.

[0018] The present invention also provides an aircraft wing surface actuating method, characterized by using an aircraft, including the following steps:

[0019] When controlling the rotation of the wing surface, a rotation instruction having a wing surface deflection direction and a deflection angle is input to the controller. The controller sends a control signal to two temperature control members according to the received rotation instruction. The two temperature control members control two shape memory alloy members I to reach specified different temperatures according to the received control signals. One of the two shape memory alloy members I deforms and shortens, and the other deforms and elongates to drive the rotating mechanism and the wing surface to rotate;

[0020] When resetting the control surface, a reset instruction is input into the controller. The controller sends control signals to two temperature control components according to the received reset instruction. The two temperature control components cancel the temperature control or control two shape memory alloy components Ⅰ to reach a specified same temperature according to the received control signals. The two shape memory alloy components Ⅰ recover their initial lengths under the rapid cooling of the cooling plate, and the rotating mechanism rotates to the initial position under the combined action of the two shape memory alloy components Ⅰ and two elastic reset components.

[0021] The beneficial effects of the present invention are as follows.

[0022] First, the actuating device provided by the present invention actively controls the rotation of the rotating mechanism by utilizing the characteristics of the shape memory alloy components. Compared with motors, hydraulic structures, and pneumatic mechanisms, it can greatly reduce the weight and area, meet the strict lightweight requirements in specific fields, and has a much higher power-to-weight ratio and designability compared with the transmission rotation drive method.

[0023] Second, the shape memory alloy components Ⅰ in the present invention can select their sizes and setting methods according to needs and can be changed according to different requirements of the load, having good task adaptability.

[0024] Third, the two elastic reset components and the shape memory alloy components Ⅰ in the present invention form a differential structure, and an elastic stabilizer is added. It can enable the shape memory alloy components Ⅰ to automatically and quickly return to the original length by means of the pulling force of the elastic reset components and the elastic stabilizer without being excited by an external power source. Then the rotating mechanism can automatically return to the initial state without additional energy input, which not only improves the energy utilization rate but also enhances the static stability of the rotating mechanism.

[0025] Fourth, the shape memory alloy components Ⅰ in the present invention are arranged on the cooling plate, which can greatly improve the cooling efficiency of the shape memory alloy components Ⅰ, thereby enhancing the response speed and meeting the requirement of the actuating device for rapid response.

[0026] Fifth, the present invention has strong feasibility. It can not only complete the established functions but also has great room for improvement. It can meet the load requirements of different types of aircraft wing surface actuation under the premise of considering size and mass constraints, providing a structural basis for the innovation of the wing surface actuation scheme of lightweight aircraft. Description of the Drawings

[0027] Figure 1 It is an isometric view of the aircraft in the present invention;

[0028] Figure 2 It is an isometric view of the wing surface actuating mechanism in the present invention;

[0029] Figure 3 It is a top view of the wing surface actuating mechanism in the present invention;

[0030] Figure 4 Isometric view of the base in the present invention;

[0031] Figure 5 Front side and top view schematic diagram of the rotation mechanism in the present invention;

[0032] Figure 6 Isometric view of the locking mechanism in the present invention;

[0033] Figure 7 Oblique side and top view schematic diagram of the wing surface actuating mechanism in the present invention.

[0034] In the figure,

[0035] 1. Base; 11. Sinking groove of the rotating mechanism; 12. Sinking groove of the cooling plate; 13. Rotating fixed shaft; 14. Base positioning hole; 15. Spring positioning column; 16. Connecting column of the stabilizing mechanism; 17. Sinking groove of the locking mechanism;

[0036] 2. Driving mechanism; 21. Cooling plate; 22. Shape memory alloy part Ⅰ;

[0037] 3. Rotating mechanism; 31. Fixing point of the shape memory alloy part Ⅰ; 32. Fixing shaft of the reset part; 33. Connecting shaft; 34. Connecting shaft base; 35. Rubber rope fixing ring; 36. Convex block; 37. Rotating body;

[0038] 4. Elastic stabilizing part; 41. High-elastic rubber rope; 42. Rubber rope fixing ring;

[0039] 5. Elastic reset part; 51. Spring collar Ⅰ; 52. Spring collar Ⅱ; 53. Spring body;

[0040] 6. Locking mechanism; 61. Locking mechanism support plate; 62. Locking mechanism base; 63. Shape memory alloy part Ⅱ; 64. Cooling fin; 65. Elastic part; 66. Arc-shaped locking plate base; 67. Arc-shaped locking plate;

[0041] 7. Control component; 71. Controller; 72. Power supply;

[0042] 8. Aircraft support structure;

[0043] 9. Wing surface;

[0044] 10. Aircraft body. Detailed implementation method

[0045] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0046] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indication will also change accordingly.

[0047] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0048] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0049] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0050] As shown in the Figure 1-7 accompanying drawings, the present invention provides an aircraft wing surface actuation mechanism based on shape memory alloy wires, including a base 1, a rotating mechanism 3, an elastic stabilizer 4, two sets of driving mechanisms 2, and two sets of elastic reset members 5;

[0051] The rotating mechanism 3 is rotatably arranged on the base 1. A connecting shaft 33 is provided on the rotating mechanism 3. That is, the connecting shaft 33 is the output shaft of the actuating device. In a specific application field, the connecting shaft 33 can be used to connect the wing surface 9 on the unmanned aerial vehicle, and then drive the wing surface 9 to rotate;

[0052] The driving mechanism 2 includes a temperature control member, a cooling plate 21, and a shape memory alloy member I 22 arranged on the cooling plate 21. The cooling plate 21 is fixed on the base 1. The end of the shape memory alloy member I 22 is fixedly connected to the rotating mechanism 3. The temperature control member is connected to the shape memory alloy member I 22 and is used to control the temperature of the shape memory alloy member I 22. Among them, the microstructure of the shape memory alloy member will change significantly under external excitation, so it has special properties such as shape memory effect and superelasticity and a high work-to-weight ratio. In the present invention, by controlling the temperature of the shape memory alloy member, the elongation of the shape memory alloy member is changed, and then the rotating mechanism 3 is driven to rotate;

[0053] One end of the elastic reset member 5 is fixedly connected to the base 1, and the other end is connected to the rotating mechanism 3. The elastic reset member 5 has an elastic force and is in a pre-stretched state after assembly. It can be an elastic member such as a spring or an elastic cord. The elastic reset member 5 is used to improve the rotation stability of the rotating mechanism 3, maintain the initial state of the rotating mechanism 3, and assist the rotating mechanism 3 to quickly reset;

[0054] Among them, there are three arrangement methods for the two groups of driving mechanisms 2 and the two groups of elastic reset members 5, which are respectively:

[0055] The two groups of driving mechanisms 2 are symmetrically arranged on one side of the rotating mechanism 3, and the two groups of elastic reset members 5 are symmetrically arranged on the other side of the rotating mechanism 3;

[0056] The two groups of driving mechanisms 2 are symmetrically arranged on one side of the rotating mechanism 3, and the two groups of elastic reset members 5 are symmetrically arranged inside the two groups of driving mechanisms 2;

[0057] The two groups of driving mechanisms 2 are symmetrically arranged on one side of the rotating mechanism 3, and the two groups of elastic reset members 5 are symmetrically arranged outside the two groups of driving mechanisms 2;

[0058] Among the above three setting methods, it is the optimal way that the two sets of driving mechanisms 2 are symmetrically arranged on one side of the rotating mechanism 3, and the two sets of elastic reset components 5 are symmetrically arranged on the other side of the rotating mechanism 3. When the shape memory alloy component Ⅰ 22 in the two driving mechanisms 2 is in the initial length, the rotating mechanism 3 can be in the initial angle in combination with the two elastic reset components 5. When one shape memory alloy component Ⅰ 22 elongates based on the initial length and the other shape memory alloy component Ⅰ 22 shortens based on the initial length, the rotating mechanism 3 can be driven to rotate. Moreover, the two elastic reset components 5 provide a pre-tightening force to ensure the stability of the rotating mechanism 3 during the rotation process and after rotation, and assist the rotating mechanism 3 to quickly complete the reset when the two shape memory alloy components Ⅰ 22 are reset;

[0059] One end of the elastic stability component 4 is fixedly connected to the base 1, and the other end is connected to the rotating mechanism 3. The elastic stability component 4 has an elastic force. The elastic stability component 4 can be an elastic component such as a spring or an elastic cord. After assembly, it is in a pre-stretched state, that is, the elastic stability component 4 has an elastic driving force to drive the rotating mechanism 3 to restore the initial angle. The setting of the elastic stability component 4 improves the actuation stability of the rotating mechanism 3. On the one hand, it can prevent shaking, and on the other hand, it can assist in resetting.

[0060] The actuation device provided by the present invention actively controls the rotation of the rotating mechanism 3 by utilizing the characteristics of the shape memory alloy component. Compared with motors, hydraulic structures, and pneumatic mechanisms, it can greatly reduce the weight and area, meet the strict lightweight requirements in specific fields, and has a much higher power-to-weight ratio and designability compared with the transmission rotary drive method;

[0061] In the present invention, the shape memory alloy component Ⅰ 22 can select its size and setting method according to needs, and can be changed according to different requirements of the load, and has good task adaptability;

[0062] In the present invention, the two elastic reset components 5 and the shape memory alloy component Ⅰ 22 form a differential structure, and the elastic stability component 4 is added, so that the shape memory alloy component Ⅰ 22 can automatically and quickly return to the original length by means of the pulling force of the elastic reset component 5 and the elastic stability component 4 without being excited by an external power source. Then the rotating mechanism 3 can automatically return to the initial state without additional energy input, which not only improves the energy utilization rate but also enhances the static stability of the rotating mechanism 3;

[0063] The shape memory alloy component Ⅰ 22 in the present invention is arranged on the cooling plate 21. Compared with the natural air cooling method, the cooling efficiency of the shape memory alloy component Ⅰ 22 can be greatly improved, thereby improving the response speed and meeting the requirement of the actuation device for rapid response.

[0064] The present invention is highly feasible and can not only complete the established functions but also has a large room for improvement. It can meet the load requirements of wing surface actuation of different types of aircraft under the premise of considering size and mass constraints, and provides a structural basis for the innovation of wing surface actuation solutions for lightweight aircraft.

[0065] In one embodiment, two groups of elastic stabilizers 4 are provided, and the two groups of elastic stabilizers 4 are symmetrically arranged along the central axis of the rotating mechanism 3, so as to further improve the resetting speed and static stability of the rotating mechanism 3. In a preferred embodiment, the elastic stabilizer 4 and the elastic resetting member 5 are perpendicular to each other.

[0066] In one embodiment, the shape memory alloy component I22 is a filamentary structure, and the cooling plate 21 is provided with a receiving groove arranged in a serpentine curve configuration. The filamentary shape memory alloy component I22 is embedded in the receiving groove, and the shape memory alloy component I22 is fixed to the cooling plate 21 in a winding manner. On the one hand, the contact area with the cooling plate 21 can be increased to improve the cooling efficiency. On the other hand, without expanding the area occupied by the shape memory alloy component I22, the elongation and shortening of the shape memory alloy component I22 can be increased, thereby expanding the rotation angle of the rotating mechanism 3. In a preferred embodiment, the cooling plate 21 includes a plate body made of a heat-conducting material and a semiconductor cooling fin arranged above the plate body, wherein a receiving groove is arranged on the plate body, and the semiconductor cooling fin can cover the receiving groove to form a receiving cavity. In this way, the receiving cavity can limit and guide the deformation of the shape memory alloy part I22, so that the shape memory alloy part I22 will only elongate and shorten after heating and cooling. At the same time, the shape memory alloy part I22 can be actively cooled by energizing the semiconductor cooling fin, thereby improving the actuation response speed of the device.

[0067] In one embodiment, the temperature control component includes a power supply 72, and the two ends of the shape memory alloy component Ⅰ22 are connected to the positive and negative electrodes of the power supply 72. In this embodiment, the shape memory alloy component Ⅰ22 is energized to make it heat up and then the temperature of the shape memory alloy component Ⅰ22 is controlled. There is no need to provide an additional heating method. When combined with a semiconductor cooling plate, the heating and cooling of the shape memory alloy component Ⅰ22 can be achieved only by energizing it, and no additional cooling structure will be added, thereby ensuring the overall lightweight and miniaturization of the device.

[0068] In one embodiment, the rotating mechanism 3 includes a rotating body 37 rotatably arranged on the base 1, and a driving reset connection structure arranged on the corresponding sides of the rotating body 37. The shape memory alloy part Ⅰ22 and the elastic reset part 5 are both connected to the driving reset connection structure. The connecting shaft 33 is arranged on the side of the rotating body 37 away from the base 1. In this embodiment, the rotating body 37 preferably adopts a circular tube-like structure. By setting the driving reset connection structure on the rotating body 37, the difficulty of connecting the shape memory alloy part Ⅰ22 and the elastic reset part 5 is simplified. The shape memory alloy part Ⅰ22 and the elastic reset part 5 are connected to the rotating body 37 at the same position, which can ensure the symmetry of driving and resetting.

[0069] In one embodiment, the driving reset connection structure includes a protrusion 36 protruding from the side of the rotating body 37 and a reset member fixing shaft 32 arranged on the protrusion 36, and the side wall of the protrusion 36 is also provided with a shape memory alloy member I fixing point 31, the shape memory alloy member I 22 is fixedly connected to the shape memory alloy member I fixing point 31, and the elastic reset member 5 is fixedly connected to the reset member fixing shaft 32.

[0070] In one embodiment, the elastic reset member 5 is a spring to ensure elastic force and reset strength, and the elastic stabilizing member 4 is a high-elastic rubber rope 41 to improve stability while avoiding excessive increase in device weight.

[0071] In one embodiment, the present invention further includes a locking mechanism 6, which includes a fixed bracket fixedly arranged on the base 1, a shape memory alloy part II 63 and an elastic part 65 arranged on the fixed bracket and facing the side wall of the rotating mechanism 3, and an arc-shaped locking plate 67 arranged at the other end of the shape memory alloy part II 63 and the elastic part 65. The temperature control part is connected to the shape memory alloy part II 63, and also includes a cooling fin 64 arranged on the shape memory alloy part II 63. In this embodiment, by setting the locking mechanism 6, the position of the rotating mechanism 3 can be locked by the locking mechanism after the rotating mechanism 3 reaches the set angle and needs to maintain the deflection angle, which can further improve the accuracy of the device. Specifically, the shape memory alloy part II 63 preferably adopts a shape memory alloy material with a lower phase transition temperature so that it is in the austenite phase at ambient temperature, and the shape memory alloy part II 63 and the elastic part 65 are preferably symmetrically arranged in two groups to improve the driving stability.

[0072] The present invention also provides an aircraft, which includes an aircraft body 10, a wing actuation mechanism of the aircraft based on shape memory alloy wires disposed inside the aircraft body 10, and a wing surface 9 disposed outside the aircraft body 10. In the wing actuation mechanism of the aircraft based on shape memory alloy wires, a rotation mechanism 3 is fixedly connected to the wing surface 9. The aircraft also includes a controller 71 connected to a temperature control member in the wing actuation mechanism of the aircraft based on shape memory alloy wires. In this embodiment, the size and weight of the wing actuation mechanism of the aircraft based on shape memory alloy wires can be controlled to be very small, meeting the stringent lightweight requirements of the aircraft, so that there is enough space inside the aircraft body 10 to carry various sensors, computers, and actuators required for the operation.

[0073] In one embodiment, the present invention also provides a method for actuating a wing surface of an aircraft. Using the above-mentioned aircraft, the method includes the following steps:

[0074] When controlling the rotation of the wing surface 9, a rotation command having a wing surface deflection direction and a deflection angle is input to the controller 71. The controller 71 sends a control signal to two temperature control members according to the received rotation command. The two temperature control members control two shape memory alloy members I 22 to reach specified different temperatures according to the received control signal. One of the two shape memory alloy members I 22 deforms and shortens, and the other deforms and elongates to drive the rotation mechanism 3 and the wing surface 9 to rotate.

[0075] When controlling the wing surface 9 to reset, a reset command is input to the controller 71. The controller 71 sends a control signal to two temperature control members according to the received reset command. The two temperature control members cancel the temperature control or control the two shape memory alloy members I 22 to reach a specified same temperature according to the received control signal. The two shape memory alloy members I 22 recover their initial lengths under the rapid cooling of the cooling plate 21. The rotation mechanism 3 rotates to the initial position under the combined action of the two shape memory alloy members I 22 and two elastic reset members 5.

[0076] In a specific embodiment provided by the present invention, the actuation device includes a base 1, a driving mechanism 2, a rotation mechanism 3, an elastic stabilizing member 4, an elastic reset member 5, a locking mechanism 6, a control assembly 7, an aircraft support structure 8, a wing surface 9, and an aircraft body 10;

[0077] Reference Figure 4, a rotating mechanism sinking groove 11, a cooling plate sinking groove 12, a rotating fixed shaft 13, a base positioning hole 14, a spring positioning column 15, a stabilizing mechanism connecting column 16, and a locking mechanism sinking groove 17 are provided on the base 1. Among them, the rotating fixed shaft 13 is arranged in the middle of the rotating mechanism sinking groove 11; the length of the base 1 is 180 mm, the width is 80 mm, and the height is 15 mm; its main body is integrally processed from carbon fiber material; the depth of the rotating mechanism sinking groove 11 is 8 mm, the depth of the cooling plate sinking groove 12 is 4 mm, and the depth of the locking mechanism sinking groove 17 is 3 mm. The rotating fixed shaft 13 is a cylinder with a diameter of 10 mm and a height of 10 mm. The base positioning hole 14 left on the base 1 is a circular hole with a diameter of 6 mm, passing through the base 1, and is used for positioning the entire base 1 on the aircraft body 10. The spring positioning column 15 is a cylinder with a diameter of 4 mm and a height of 7 mm, and is used for connecting with the elastic reset member 5. The stabilizing mechanism connecting column 16 is a cylinder with a diameter of 4 mm and a height of 20 mm;

[0078] Reference Figure 2 , the driving mechanism 2 includes a cooling plate 21, a shape memory alloy part I 22, and a temperature control part; the length of the cooling plate 21 in the driving mechanism 2 is 80 mm, the width is 30 mm, and the height is 4 mm. It is fixedly installed in the cooling plate sinking groove 12, and the thickness of the covering semiconductor material is 2 mm. The diameter of the shape memory alloy part I 22 can be adjusted within a certain range according to actual needs, specifically 0.4 mm - 0.6 mm, and the number of winding turns can be adjusted within the range of 4 - 10 turns;

[0079] Reference Figure 5 , the rotating mechanism 3 includes a shape memory alloy part I fixing point 31, a reset member fixing shaft 32, a connecting shaft 33, a connecting shaft base 34, a rubber rope connecting terminal 35, a convex block 36, and a rotating main body 37. Among them, the rotating main body 37 is rotatably installed in the rotating mechanism sinking groove 11; the rotating main body 37 in the rotating mechanism 3 is a circular tube structure with an outer diameter of 41 mm, an inner diameter of 10.5 mm, and a height of 22 mm, and cooperates with the two parts of the rotating mechanism sinking groove 11 and the rotating fixed shaft 13 in the base 1. The rubber rope fixing ring 35 is a circular tube with an inner diameter of 0.9 mm, an outer diameter of 1.6 mm, and a height of 1.5 mm. The convex block 36 has a length of 5 mm, a width of 5 mm, and a height of 4 mm. The center is the shape memory alloy part I fixing point 31. The reset member fixing shaft 32 above the convex block 36 is a cylinder with a diameter of 3 mm and a height of 7 mm, which cooperates with the size of the spring collar 242 and is used for connecting the rotating mechanism 3 with the elastic stabilizing member 4. The wing surface connecting shaft 33 has a columnar gear structure, with a diameter of 5 mm and a height of 25 mm;

[0080] Reference Figure 2, the elastic stabilizing member 4 includes a high-elasticity rubber cord 41 and a rubber cord fixing ring 42. One end of the high-elasticity rubber cord 41 is fixed to the rubber cord connection terminal 35, and the other end is connected to the rubber cord fixing ring 42; the rubber cord fixing ring 42 connected to the high-elasticity rubber cord 41 in the elastic stabilizing member 4 is a circular ring with an inner diameter of 4 mm, an outer diameter of 4.6 mm, and a height of 3 mm, and is nested on the stabilizing mechanism connecting column 16;

[0081] Reference Figure 2 , the elastic reset member 5 includes a spring collar I 51, a spring body 53, and a spring collar II 52 connected in sequence. The spring collar I 51 is sleeved on the spring positioning column 15, and the spring collar II 52 is sleeved on the reset member fixing shaft 32; the spring collar I 51 in the elastic reset member 5 is a circular ring with a diameter of 4 mm and a thickness of 1 mm, and the spring collar II 52 is a circular ring with a diameter of 3 mm and a thickness of 0.5 mm. The spring body 53 has a diameter of 5 mm, a pitch of 3 mm, 33 turns, and the diameter of the spring wire is 0.8 mm - 1.2 mm;

[0082] Reference Figure 6 , the locking mechanism 6 includes a locking mechanism support plate 61, a locking mechanism base 62, a shape memory alloy member II 63, a cooling fin 64, an elastic member 65, an arc-shaped locking plate base 66, and an arc-shaped locking plate 67. The locking mechanism support plate 61 and the locking mechanism base 62 are perpendicularly connected to form a fixed bracket. The arc-shaped locking plate base 66 and the arc-shaped locking plate 67 are connected to each other, and are connected to the shape memory alloy member II 63 and the elastic member 65 through the arc-shaped locking plate base 66; the locking mechanism support plate 61 in the locking mechanism 6 is 15 mm high and 3 mm thick, the locking mechanism base 62 is 26 mm long, 22 mm wide, and 3 mm high, the shape memory alloy member II 63 has a diameter of 0.8 mm, the cooling fin 64 is two long rods with semi-circular cross-sections, covering the upper and lower sides of the shape memory alloy member II 63, the outer diameter of each semi-circular shape is 1.2 mm, the inner diameter is 0.8 mm, and the angle is 120°, the elastic member 65 has a diameter of 1.6 mm, a pitch of 0.8 mm, 45 turns, and the diameter of the spring wire is 0.4 mm - 0.8 mm, the arc-shaped locking plate base 66 is 18 mm long, 2 mm wide, and 3 mm high, and the arc-shaped locking plate 67 has an outer diameter of 49 mm, an inner diameter of 46 mm, and an angle of 80°.

[0083] Reference Figure 1 , the control component 7 includes a controller 71 and a power supply 72, and the power supply 72 is used as a temperature control component; the controller 71 has a length of 100 mm, a width of 45 mm, and a height of 30 mm, and the internal space is sufficient to install required devices such as sensors, control computers, and wires. The power supply 72 is an overall cuboid, with a length of 50 mm, a width of 45 mm, and a height of 30 mm.

[0084] During installation, first assemble the sub-components of the driving mechanism 2, the rotating mechanism 3 and the locking mechanism 6 respectively, then fix the high-elastic rubber rope 41 to the rubber rope fixing ring 35 of the rotating mechanism 3, and then assemble the various components in the order of the base 1, the driving mechanism 2, the locking mechanism 6, the rotating mechanism 3, the elastic stabilizing member 4, and the elastic reset member 5. The specific assembly steps are as follows: fix the driving mechanism 2 to the base 1 through the cooling plate sink groove 12, then fix the locking mechanism 6 to the base 1 through the locking mechanism sink groove 17, and then install the rotating mechanism 3, and then complete the connection between the shape memory alloy parts Ⅰ22 on both sides and the protrusions 36 on the rotating mechanism 3, and first nest the spring rings Ⅰ51 of the elastic reset members 5 on both sides on the spring positioning columns 15 of the base 1, and finally pay attention to the need to simultaneously nest the spring rings Ⅱ52 of the elastic reset members 5 on both sides on the reset member fixing shaft 32 of the rotating mechanism 3 to prevent uneven force on both sides from causing large initial installation errors. After the rotating mechanism 3 is installed, the high-elastic rubber rope 41 is fixedly connected to the rubber rope fixing ring 42, and the rubber rope fixing ring 42 is nested on the stabilizing mechanism connecting column 16 of the base 1. During the process, when installing the rotating mechanism 3, the rotating body 37 must first be nested along the rotating fixed shaft 13 into the rotating mechanism sinking groove 11, and then the two sub-components of the wing surface connecting shaft 33 and the connecting shaft base 34 must be installed. The shape memory alloy part Ⅰ22 must first be wrapped and arranged on the cooling plate 21, and then assembled with the driving mechanism 2 as a whole and the base 1.

[0085] It can be seen from the above specific embodiments that the size of the aircraft wing surface actuating mechanism based on shape memory alloy wire provided by the present invention can be controlled to be relatively small, and at the same time, many components can be made of lightweight materials to meet lightweight requirements.

[0086] In this embodiment, the specific execution process of the wing surface actuation is as follows: program design, equipment installation, debugging and inspection are completed in the ground preparation stage; after the aircraft takes off, the high elastic rubber rope 41 in the elastic stabilizing member 4 is always involved in the rotating body 37, and cooperates with the two elastic reset members 5 to prevent the wing load from being too large, resulting in non-autonomous rotation of the rotating mechanism 3. When the wing surface needs to be actuated during the flight, the flight control computer outputs the required rotation instructions of the wing surface deflection direction and angle to the control computer in the controller 71, and the control computer will obtain the corresponding control signal in combination with the information fed back by the sensor, and adjust the output of the power supply 72.

[0087] join Figure 3And the illustrated direction, with the clockwise direction as the positive direction. When the wing surface requires a positive deflection angle, by adjusting the output of the power supply 72, the excitations received by the shape memory alloy parts Ⅰ22 on the left and right sides are different, resulting in the temperature on the right side being higher than that on the left side. Therefore, the elongation of the left shape memory alloy part Ⅰ22 will be greater than that of the right shape memory alloy part Ⅰ22. And the pre-tension amounts received by the two elastic reset parts 5 are the same. Therefore, under the action of the pulling force of the spring main body 53, the convex block 36 on the left side will move towards the direction close to the spring main body 53, and the convex block 36 on the right side will move towards the direction close to the shape memory alloy part Ⅰ22. Eventually, the effect that the entire rotating mechanism 3 rotates clockwise around the rotation fixed shaft 13 is formed, and the wing surface connecting shaft 33 drives the wing surface 9 to generate the corresponding required deflection angle. If it is necessary to maintain this deflection angle, the locking mechanism 6 starts to work. The cooling fin 64 cools down the shape memory alloy part Ⅱ63, causing it to elongate under the action of the elastic part 65, and pushing the arc-shaped locking plate 67 towards the direction of the rotating main body 37 until the arc-shaped locking plate 67 presses against the rotating main body 37. Under the action of the frictional force, the deflection angle of the rotating mechanism 3 can be fixed to achieve the locking function. When it is necessary to adjust the wing surface 9 to the neutral position, the controller 71 will adjust and reduce the excitation of the power supply 72 to the shape memory alloy part Ⅰ22, and cooperate with the cooling plate 21 to quickly cool it. Under the combined action of the shape memory effect and the pulling force of the spring main body 53, the shape memory alloy parts Ⅰ22 on both sides can quickly return to their original lengths, and the rotating mechanism 3 can return to the neutral position.

[0088] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

Claims

1. An aircraft wing surface actuating mechanism based on a shape memory alloy wire, characterized in that It comprises a base (1), a rotating mechanism (3), an elastic stabilizing member (4), two sets of driving mechanisms (2) and two sets of elastic resetting members (5); The rotating mechanism (3) is rotatably arranged on the base (1); The driving mechanism (2) comprises a temperature control component, a cooling plate (21), and a shape memory alloy component I (22) arranged on the cooling plate (21), wherein the cooling plate (21) is fixed on the base (1), an end of the shape memory alloy component I (22) is fixedly connected to the rotating mechanism (3), and the temperature control component is connected to the shape memory alloy component I (22) for controlling the temperature of the shape memory alloy component I (22); One end of the elastic return member (5) is fixedly connected to the base (1), and the other end is connected to the rotating mechanism (3); The two sets of driving mechanisms (2) are symmetrically arranged on one side of the rotating mechanism (3), and the two sets of elastic reset members (5) are symmetrically arranged on the other side of the rotating mechanism (3); or, the two sets of driving mechanisms (2) are symmetrically arranged on one side of the rotating mechanism (3), and the two sets of elastic reset members (5) are symmetrically arranged on the inner side or the outer side of the two sets of driving mechanisms (2); One end of the elastic stabilizing member (4) is fixedly connected to the base (1), and the other end is connected to the rotating mechanism (3), and the elastic stabilizing member (4) has an elastic driving force for driving the rotating mechanism (3) to restore an initial angle; The base (1) is provided with a stabilizing mechanism connecting column (16), the rotating mechanism (3) comprises a rubber rope connecting terminal (35), two groups of elastic stabilizing members (4) are provided, the two groups of elastic stabilizing members (4) are symmetrically arranged along the central axis of the rotating mechanism (3), the elastic stabilizing member (4) comprises a high-elasticity rubber rope (41) and a rubber rope fixing ring (42), one end of the high-elasticity rubber rope (41) is fixed to the rubber rope connecting terminal (35), and the other end is connected to the rubber rope fixing ring (42), and the rubber rope fixing ring (42) is nested on the stabilizing mechanism connecting column (16).

2. The aircraft wing surface actuating mechanism based on a shape memory alloy wire according to claim 1, characterized in that, The shape memory alloy member I (22) is a filamentary structure, and a receiving groove arranged in a serpentine curve configuration is provided on the cooling plate (21), and the filamentary shape memory alloy member I (22) is embedded in the receiving groove.

3. The aircraft wing surface actuation mechanism based on shape memory alloy wires according to claim 2, characterized in that, The temperature control component comprises a power source (72), and both ends of the shape memory alloy component I (22) are connected to the positive and negative electrodes of the power source (72).

4. The aircraft wing surface actuating mechanism based on shape memory alloy wires according to claim 1, characterized in that, The rotating mechanism (3) comprises a rotating body (37) rotatably arranged on the base (1), and a driving reset connection structure arranged on two corresponding sides of the rotating body (37), the shape memory alloy member I (22) and the elastic reset member (5) are both connected to the driving reset connection structure, and a connecting shaft (33) is arranged on the side of the rotating body (37) facing away from the base (1).

5. The aircraft wing surface actuation mechanism based on a shape memory alloy wire according to claim 4, characterized in that, The driving and reset connection structure includes a bump (36) protruding from the side of the rotating body (37) and a reset member fixing shaft (32) provided on the bump (36). A shape memory alloy member I fixing point (31) is further provided on the side wall of the bump (36). The shape memory alloy member I (22) is fixedly connected to the shape memory alloy member I fixing point (31), and the elastic reset member (5) is fixedly connected to the reset member fixing shaft (32).

6. The aircraft wing surface actuation mechanism based on shape memory alloy wires as claimed in claim 1, characterized in that, The elastic reset member (5) is a spring, and the elastic stabilizing member (4) is a high-elasticity rubber cord (41).

7. The aircraft wing surface actuating mechanism based on shape memory alloy wires according to any one of claims 1-6, characterized in that, It further includes a locking mechanism (6). The locking mechanism (6) includes a fixed bracket fixedly provided on the base (1), a shape memory alloy member II (63) and an elastic member (65) provided on the fixed bracket and facing the side wall of the rotating mechanism (3), and an arc-shaped locking plate (67) provided at the other ends of the shape memory alloy member II (63) and the elastic member (65). The temperature control member is connected to the shape memory alloy member II (63), and a cooling fin (64) is further provided on the shape memory alloy member II (63).

8. An aircraft, characterized in that, It includes an aircraft body (10), a shape memory alloy wire-based aircraft wing surface actuating mechanism as described in any one of claims 1-7 provided inside the aircraft body (10), and a wing surface (9) provided outside the aircraft body (10). The rotating mechanism (3) in the shape memory alloy wire-based aircraft wing surface actuating mechanism is fixedly connected to the wing surface (9), and it further includes a controller (71) connected to the temperature control member in the shape memory alloy wire-based aircraft wing surface actuating mechanism.

9. A method for actuating an aircraft wing surface, characterized in that, Using the aircraft as described in claim 8 includes the following steps: When controlling the rotation of the wing surface (9), a rotation instruction with a wing surface deflection direction and a deflection angle is input to the controller (71). The controller (71) sends control signals to the two temperature control members according to the received rotation instruction. The two temperature control members control the two shape memory alloy members I (22) to reach specified different temperatures according to the received control signals. One of the two shape memory alloy members I (22) deforms and shortens, and the other deforms and elongates to drive the rotation of the rotating mechanism (3) and the wing surface (9). When controlling the reset of the wing surface (9), a reset instruction is input to the controller (71). The controller (71) sends control signals to the two temperature control members according to the received reset instruction. The two temperature control members cancel the temperature control or control the two shape memory alloy members I (22) to reach specified same temperatures according to the received control signals. The two shape memory alloy members I (22) recover to their initial lengths under the rapid cooling of the cooling plate (21), and the rotating mechanism (3) rotates to the initial position under the combined action of the two shape memory alloy members I (22) and the two elastic reset members (5).

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