Control method based on a new flexible morphing frame mechanism

Abstract

The application discloses a control method based on a novel flexible deformation frame mechanism, and the deformation frame mechanism comprises a hexagonal cell unit, a C-shaped flexible hinge, an S-shaped flexible hinge, a wing trailing edge, a bridging rigid plate and a rigid base; the specific steps of the control method are as follows: the bridging rigid plate drives the hexagonal cell unit to deflect through the C-shaped flexible hinge; after the SMA sheet is heated, the SMA sheet shrinks, the two end bends of the S-shaped flexible hinge outside the surface of the SMA sheet have a flattening trend, and the whole reconfigurable honeycomb core structure deflects. The S-shaped flexible hinge is used to connect two adjacent hexagonal cell units in front and back, so that the chord direction part is full of flexibility and can rotate; the C-shaped flexible hinge and the bridging rigid plate are used to connect two adjacent hexagonal cell units on the left and right, so that the normal direction part has rigidity, thereby the honeycomb structure is stable when rotating. The application can be applied to the fields of aircraft deformable wing filling and dynamic mechanical vehicle body and the like.

Description

Technical Field

[0001] This invention relates to the technical field of deformable mechanisms, and in particular to the technical field of control methods based on novel flexible deformable frame mechanisms. These mechanisms and control methods have broad application prospects in fields such as deformable wing filling and dynamic mechanical bodies of aircraft. Background Technology

[0002] Flexible morphing mechanisms have wide applications in fields such as deformable wing filling and dynamic mechanical bodies. However, the gaps in traditional flexible morphing mechanisms can cause noise and vibration, affecting deformation accuracy, and their structures also require high machining precision. Furthermore, traditional flexible morphing mechanisms are generally heavy and lack in-plane flexibility, making it impossible to produce significant multi-dimensional deformations with relatively low drive power, thus limiting the development of flexible morphing mechanisms.

[0003] Therefore, there is an urgent need to conduct research on flexible deformation mechanisms that require only a small amount of energy to produce large deformations, are lightweight, and have high stiffness and flexibility in both the normal and oriented directions. Summary of the Invention

[0004] The purpose of this invention is to solve the problems in the prior art and propose a control method based on a novel flexible deformable frame mechanism. One side of the rigid foundation is connected to a hexagonal cell unit through an S-shaped flexible hinge. Two adjacent hexagonal cell units are connected to each other through an S-shaped flexible hinge and an SMA plate, so that the chordal part is flexible and can be torsional. Two adjacent hexagonal cell units on the left and right are connected to each other by a rigid plate, so that the normal part is rigid. Thus, the honeycomb structure is stable during rotation, thereby forming a reconfigurable honeycomb core structure.

[0005] To achieve the above objectives, this invention proposes a control method based on a novel flexible deformable frame mechanism. The deformable frame mechanism includes hexagonal cell units, C-shaped flexible hinges, S-shaped flexible hinges, a wing trailing edge, a bridging rigid plate, and a rigid base. The right side of the rigid base is connected to the hexagonal cell units via S-shaped flexible hinges. Adjacent sides of the hexagonal cell units are connected to other hexagonal cell units via C-shaped flexible hinges until a hexagonal reconfigurable honeycomb core structure is formed. The right side of the reconfigurable honeycomb core structure is connected to other reconfigurable honeycomb core structures via S-shaped flexible hinges. The front or rear side of the reconfigurable honeycomb core structure is connected to other reconfigurable honeycomb core structures via S-shaped flexible hinges and a bridging rigid plate. The right side of the rightmost reconfigurable honeycomb core structure is connected to the wing trailing edge via an S-shaped flexible hinge. The S-shaped flexible hinges are S-shaped, and the outer surfaces of the bends at both ends of the S-shaped flexible hinges are covered with SMA sheets.

[0006] The specific steps of the control method for the deformable frame mechanism are as follows: the bridging rigid plate drives the hexagonal cell unit to deflect through the C-shaped flexible hinge; after heating the SMA sheet, the SMA sheet shrinks, and the S-shaped flexible hinges with SMA sheets attached to the outer surfaces of the two bends tend to flatten, causing the entire reconfigurable honeycomb core structure to deflect.

[0007] Preferably, two adjacent hexagonal cell units are connected to each other by an S-shaped flexible hinge, making the chordal part of the deformable frame mechanism flexible; two adjacent hexagonal cell units are connected to each other by a C-shaped flexible hinge and a bridging rigid plate, making the normal part of the deformable frame mechanism rigid.

[0008] Preferably, the reconfigurable honeycomb core structure is hexagonal, comprising 6 hexagonal cell units and 12 C-type flexible hinges, with adjacent hexagonal cell units connected by 2 C-type flexible hinges.

[0009] Preferably, the arc of the C-type flexible hinge is 60°, 120°, or 150°. The design dimensions of the C-type flexible hinge are changed according to the required deformation amount. Specifically, when the required deformation amount is large, the design dimensions of the C-type flexible hinge are increased and the thickness of the C-type flexible hinge is reduced, thereby increasing the flexibility of the C-type flexible hinge; when the required deformation amount is small, the design dimensions of the C-type flexible hinge are reduced and the thickness of the C-type flexible hinge is increased, thereby reducing the flexibility of the C-type flexible hinge.

[0010] Preferably, the design dimensions of the bends at both ends of the S-shaped flexible hinge are changed according to the required deformation amount. Specifically, when the required deformation amount is large, the design dimensions of the bends at both ends of the S-shaped flexible hinge are increased and the thickness of the bends at both ends of the S-shaped flexible hinge is reduced, thereby increasing the flexibility of the bends at both ends of the S-shaped flexible hinge; when the required deformation amount is small, the design dimensions of the bends at both ends of the S-shaped flexible hinge are reduced and the thickness of the bends at both ends of the S-shaped flexible hinge is increased, thereby reducing the flexibility of the bends at both ends of the S-shaped flexible hinge.

[0011] Preferably, the bridging rigid plate includes a normal rigid plate, eight C-shaped flexible hinges, and hexagonal cell units connected to the normal rigid plate via the C-shaped flexible hinges. The C-shaped flexible hinges have an arc of 60° or 150°. The upper left, upper right, lower left, and lower right of the normal rigid plate are connected to hexagonal cell units via a 60° C-shaped flexible hinge and a 150° C-shaped flexible hinge, respectively.

[0012] Preferably, the spatial deformation of the deformable frame mechanism is based on the rigid structure provided by the rigid foundation.

[0013] Preferably, the SMA sheet is a nickel-titanium alloy sheet with a certain resistance; the hexagonal cell unit, wing trailing edge, bridging rigid plate and rigid base are made of high modulus materials, including steel and aluminum; the C-type flexible hinge and S-type flexible hinge are made of plastic materials, including PLA and PEEK.

[0014] The beneficial effects of the present invention are as follows: The novel deformable frame mechanism proposed in this invention, as an internal filling structure of the wing, can give the wing greater stiffness in the thickness direction and withstand greater aerodynamic loads under high-speed flight; the flexible connecting elbows between the honeycomb units can deform the honeycomb frame structure in the plane, thereby realizing the chordal and spanwise coupled deformation of the wing and causing adaptive flexible deformation.

[0015] The features and advantages of the present invention will be described in detail through embodiments and in conjunction with the accompanying drawings. Attached Figure Description

[0016] Figure 1 This is a reconfigurable honeycomb core fragment diagram based on the control method of a novel flexible deformable frame mechanism of the present invention;

[0017] Figure 2 This is a structural diagram of the overall bending mesh of the control method based on the novel flexible deformable frame mechanism of the present invention;

[0018] Figure 3 This is a detailed diagram of the S-shaped flexible hinge in the control method of the novel flexible deformable frame mechanism of this invention;

[0019] Figure 4 This is a hexagonal cell unit connection diagram of the control method based on the novel flexible deformable frame mechanism of this invention;

[0020] Figure 5 This is a schematic diagram of the bending action of a reconfigurable honeycomb core based on the control method of a novel flexible deformable frame mechanism according to the present invention.

[0021] Figure 6 This is a deformation diagram of the overall bending mesh construction of the control method based on the novel flexible deformable frame mechanism of the present invention;

[0022] Figure 7 This is a perspective view of the bridging rigid plate in the control method of the novel flexible deformable frame mechanism of the present invention;

[0023] Figure 8 This is a top view of the bridging rigid plate of the control method based on the novel flexible deformable frame mechanism of the present invention.

[0024] In the diagram: 1-hexagonal cell unit, 2-C-type flexible hinge, 3-S-type flexible hinge, 3-1-first SMA plate, 3-2-second SMA plate, 3-3-third SMA plate, 3-4-fourth SMA plate, 4-wing trailing edge, 5-bridging rigid plate, 6-rigid foundation. Detailed Implementation

[0025] See Figures 1-8 The present invention discloses a deformable frame mechanism comprising a hexagonal cell unit 1, a C-shaped flexible hinge 2, an S-shaped flexible hinge 3, a wing trailing edge 4, a bridging rigid plate 5, and a rigid base 6. The right side of the rigid base 6 is connected to the hexagonal cell unit 1 via the S-shaped flexible hinge 3. Adjacent sides of the hexagonal cell unit 1 are connected to other hexagonal cell units 1 via the C-shaped flexible hinge 2 until a hexagonal reconfigurable honeycomb core structure is formed. The right side of the reconfigurable honeycomb core structure is connected to other reconfigurable honeycomb core structures via the S-shaped flexible hinge 3. The front or rear side of the reconfigurable honeycomb core structure is connected to other reconfigurable honeycomb core structures via the S-shaped flexible hinge 3 and the bridging rigid plate 5. The right side of the rightmost reconfigurable honeycomb core structure is connected to the wing trailing edge 4 via the S-shaped flexible hinge 3. The S-shaped flexible hinge 3 is S-shaped, and the outer surface of the bends at both ends of the S-shaped flexible hinge 3 is covered with SMA sheets.

[0026] The specific steps of the control method of the deformable frame mechanism are as follows: the bridging rigid plate 5 drives the hexagonal cell unit 1 to deflect through the C-type flexible hinge 2; after heating the SMA sheet, the SMA sheet shrinks, and the S-type flexible hinge 3 with the SMA sheet attached to the outer surface of the two ends tends to flatten, causing the entire reconfigurable honeycomb core structure to deflect.

[0027] The working process of this invention:

[0028] The control method of the novel flexible deformable frame mechanism of this invention is described in conjunction with the accompanying drawings during its operation.

[0029] As attached Figure 1As shown, in a preferred embodiment of the present invention, a novel flexible deformable structural frame mechanism and its control method are provided, which mainly includes hexagonal cell units 1, C-shaped flexible hinges 2, S-shaped flexible hinges 3, wing trailing edge 4, bridging rigid plate 5, and rigid base 6. One side of the rigid base 6 is connected to the hexagonal cell unit 1 via the S-shaped flexible hinge 3. Two adjacent hexagonal cell units 1 are interconnected via the S-shaped flexible hinge 3, making the chordal portion flexible and allowing rotation. Two adjacent hexagonal cell units 1 are interconnected via the C-shaped flexible hinge 2 and the bridging rigid plate 5, making the normal portion rigid. This allows the structure to have in-plane flexibility and normal stiffness, thereby stabilizing the honeycomb structure during rotation, thus forming a reconfigurable honeycomb core structure. Because the S-shaped flexible hinge 3 can flexibly connect the hexagonal cell units 1, the reconfigurable honeycomb core structure becomes a controllable dynamic spatial structure, thus forming an overall curved mesh structure, as shown in the attached figure. Figure 2 As shown.

[0030] SMA sheets are attached to the outer surface of the elbows at both ends of the flexible hinge. Upon heating, the SMA sheets shrink, causing the elbows at both ends to tend to flatten, as shown in the attached diagram. Figure 3 As shown in the attached diagram. Two hexagonal cell units 1 are connected by an S-shaped flexible hinge 3, and the hexagonal cell units 1 are connected by a C-shaped flexible hinge 2. Figure 4 As shown in the attached diagram, the deformation of the S-shaped flexible hinge 3 causes the entire honeycomb bending network to deflect, as illustrated. Figure 5 As shown in the attached diagram. Assuming a C-shaped flexible hinge 2 is installed on the bridging rigid plate 5, the C-shaped flexible hinge 2 causes the hexagonal cell unit 1 and the S-shaped flexible hinge 3 to deflect accordingly, thereby causing the entire honeycomb structure to deflect, as shown in the attached diagram. Figure 6 As shown.

[0031] The actuation method based on the novel flexible deformable frame mechanism is as follows:

[0032] When a C-shaped flexible hinge 2 is installed on the bridging rigid plate 5, the C-shaped flexible hinge 2 causes the hexagonal cell unit 1 to deflect accordingly. After heating, the SMA sheet shrinks, and the S-shaped flexible hinge 3 with the SMA sheet attached to the outer surface of the two ends tends to flatten, thereby causing the entire honeycomb structure to deflect.

[0033] The C-shaped flexible hinge 2 has an arc of 120°. The design dimensions can be changed according to the deformation requirements. If large deformation is required, the design dimensions can be larger and the thickness can be thinner, thus making the C-shaped flexible hinge more flexible. If small deformation is required, the dimensions can be smaller and the thickness can be thicker, thus making the C-shaped flexible hinge less flexible. The same applies to the dimensions of the bend of the S-shaped flexible hinge 3. If large deformation is required, its dimensions can be larger and the thickness can be thinner, thus making the bend more flexible. If small deformation is required, its dimensions can be smaller and the thickness can be thicker, thus making the bend less flexible.

[0034] In summary, the novel flexible deformable structure frame mechanism designed in this invention utilizes an S-shaped flexible hinge 3 to connect two adjacent hexagonal cell units 1, making the chordal portion flexible and capable of rotation. A C-shaped flexible hinge 2 and a bridging rigid plate 5 connect two adjacent hexagonal cell units 1 on the left and right sides, making the normal portion rigid. This allows the structure to have both in-plane flexibility and normal stiffness, thereby stabilizing the honeycomb structure during rotation.

[0035] The above embodiments are illustrative of the present invention and are not intended to limit the present invention. Any simple modifications to the present invention are within the scope of protection of the present invention.

Claims

1. A control method based on a novel flexible deformable frame mechanism, characterized in that: The deformable frame mechanism includes a hexagonal cell unit (1), a C-type flexible hinge (2), an S-type flexible hinge (3), a wing trailing edge (4), a bridging rigid plate (5), and a rigid base (6). The right side of the rigid base (6) is connected to the hexagonal cell unit (1) through the S-type flexible hinge (3). The adjacent sides of the hexagonal cell unit (1) are connected to other hexagonal cell units (1) through the C-type flexible hinge (2) until a hexagonal reconfigurable honeycomb core structure is formed. The right side of the reconfigurable honeycomb core structure is connected to other reconfigurable honeycomb core structures through the S-type flexible hinge (3). The front or rear side of the reconfigurable honeycomb core structure is connected to other reconfigurable honeycomb core structures through the S-type flexible hinge (3) and the bridging rigid plate (5). The right side of the rightmost reconfigurable honeycomb core structure is connected to the wing trailing edge (4) through the S-type flexible hinge (3). The S-type flexible hinge (3) is S-shaped, and the outer surface of the bends at both ends of the S-type flexible hinge (3) is covered with SMA sheets. The two adjacent hexagonal cell units (1) are connected to each other by an S-shaped flexible hinge (3), making the chordal part of the deformable frame mechanism flexible; the two adjacent hexagonal cell units (1) are connected to each other by a C-shaped flexible hinge (2) and a bridging rigid plate (5), making the normal part of the deformable frame mechanism rigid. The bridging rigid plate (5) includes a normal rigid plate, eight C-type flexible hinges (2), and hexagonal cell units (1) connected to the normal rigid plate by the C-type flexible hinges (2). The arc of the C-type flexible hinges (2) is 60° or 150°. The upper left, upper right, lower left, and lower right of the normal rigid plate are connected to hexagonal cell units (1) by a 60° C-type flexible hinge (2) and a 150° C-type flexible hinge (2), respectively. The specific steps of the control method of the deformable frame mechanism are as follows: the bridging rigid plate (5) drives the hexagonal cell unit (1) to deflect through the C-type flexible hinge (2); after heating the SMA sheet, the SMA sheet shrinks, and the S-type flexible hinge (3) of the SMA sheet attached to the outer surface of the two ends of the bend tends to flatten at both ends, so that the entire reconfigurable honeycomb core structure deflects.

2. The control method based on the novel flexible deformable frame mechanism as described in claim 1, characterized in that: The reconfigurable honeycomb core structure is hexagonal, and includes 6 hexagonal cell units (1) and 12 C-type flexible hinges (2). Adjacent hexagonal cell units (1) are connected by 2 C-type flexible hinges (2).

3. The control method based on the novel flexible deformable frame mechanism as described in claim 1, characterized in that: The arc of the C-type flexible hinge (2) is 60°, 120° or 150°. The design dimensions of the C-type flexible hinge (2) are changed according to the requirements of the deformation amount. Specifically, when the required deformation amount is large, the design dimensions of the C-type flexible hinge (2) are increased and the thickness of the C-type flexible hinge (2) is reduced, so that the flexibility of the C-type flexible hinge (2) is increased; when the required deformation amount is small, the design dimensions of the C-type flexible hinge (2) are reduced and the thickness of the C-type flexible hinge (2) is increased, so that the flexibility of the C-type flexible hinge (2) is reduced.

4. The control method based on the novel flexible deformable frame mechanism as described in claim 1, characterized in that: The design dimensions of the bends at both ends of the S-shaped flexible hinge (3) are changed according to the deformation requirements. Specifically, when the required deformation is large, the design dimensions of the bends at both ends of the S-shaped flexible hinge (3) are increased and the thickness of the bends at both ends of the S-shaped flexible hinge (3) is reduced, thereby increasing the flexibility of the bends at both ends of the S-shaped flexible hinge (3); when the required deformation is small, the design dimensions of the bends at both ends of the S-shaped flexible hinge (3) are reduced and the thickness of the bends at both ends of the S-shaped flexible hinge (3) is increased, thereby reducing the flexibility of the bends at both ends of the S-shaped flexible hinge (3).

5. The control method based on the novel flexible deformable frame mechanism as described in claim 1, characterized in that: The spatial deformation of the deformable frame mechanism is based on the rigid structure provided by the rigid foundation (6).

6. The control method based on the novel flexible deformable frame mechanism as described in claim 1, characterized in that: The SMA sheet is a nickel-titanium alloy sheet with a certain resistance; the hexagonal cell unit (1), the wing trailing edge (4), the bridging rigid plate (5) and the rigid base (6) are high modulus materials, including steel and aluminum; the C-type flexible hinge (2) and the S-type flexible hinge (3) are plastic materials, including PLA and PEEK.

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