A form and position self-adapting large torque airfoil folding device and method

Abstract

The application provides a shape and position adaptive large torque airfoil folding device and method. The device is characterized in that it comprises a main body (1), a cabin lower fixing mechanism (3), an upper auxiliary fixing module (8), a left adjusting module (2), a right adjusting module (9) and a shape and position adaptive adjusting module (11). The cabin lower fixing mechanism (3) is used in cooperation with the upper auxiliary fixing module (8) to fix a cabin (5) assembled with an airfoil / rudder surface (6). The left adjusting module (2) and the right adjusting module (9) realize the folding of the airfoil. The shape and position adaptive adjusting module (11) is always in close contact with the airfoil / rudder surface (6). The application not only solves the problems of inconvenient cabin fixing, high labor intensity of personnel and difficulty in coating protection during the folding process, but also meets the folding needs of different diameters, different torque values and different airfoil structures, and avoids the waste of costs caused by repeated investment.

Description

Technical Field

[0001] This invention relates to the field of aerospace product assembly technology, specifically to a form-adaptive high-moment wing folding device and method. Background Technology

[0002] As a crucial component of aerospace products, wing / control surfaces are vital for lift and maneuverability during flight. Excellent maneuverability is key to ensuring the successful completion of aerospace missions. With the miniaturization of aerospace products, foldable wing / control surfaces are becoming a future trend, especially those with high moment values. Folding wing / control surfaces before product delivery is an indispensable step in the assembly process.

[0003] Meanwhile, as aerospace products develop towards higher Mach speeds and greater maneuverability, the original metal exterior is gradually being replaced by composite material thermal protection systems, which requires increasing the force application area during wing folding to avoid coating damage. Summary of the Invention

[0004] In view of this, the present invention aims to provide a form-adaptive high-moment wing folding device and method to solve the problems of inconvenient cabin fixation, high personnel involvement, high labor intensity, low level of automation, and difficulty in coating protection during the current manual folding process.

[0005] The technical solution for implementing the present invention is as follows:

[0006] A form-position adaptive high-torque wing folding device is characterized by comprising a main body 1, a lower cabin fixing mechanism 3 disposed on the main body 1, an upper auxiliary fixing module 8, a left adjustment module 2, a right adjustment module 9, and a form-position adaptive adjustment module 11. The lower cabin fixing mechanism 3 works in conjunction with the upper auxiliary fixing module 8 to fix the cabin 5 equipped with the wing surface 6. The left adjustment module 2 and the right adjustment module 9 realize the folding of the wing surface. The form-position adaptive adjustment module 11 is connected to the left adjustment module 2 and the right adjustment module 9, so that the form-position adaptive adjustment module 11 is always in close contact with the wing surface 6 during the folding process, ensuring that the coating on the wing surface 6 is not damaged due to excessive torque.

[0007] Furthermore, the left adjustment module 2 and the right adjustment module 9 are identical in composition, each consisting of one X-axis adjustment module and one Y-axis adjustment module. The X-axis adjustment module and the Y-axis adjustment module work together to achieve folding of the wing surface.

[0008] Furthermore, the form and position adaptive adjustment module 11 includes an elastic plate 22, a guide rail slider 21, a torsion spring mechanism 20, and a force feedback mechanism 19. The elastic plate 22 is connected to the guide rail slider 21. Through its shape design, it ensures that folding force is applied to the wing surface 6 with different structures such as arc shape and planar shape. Through the joint action of the guide rail slider 21 and the torsion spring mechanism 20, the form and position adaptive adjustment module 11 is always in close contact with the wing surface 6 during the folding process. The force feedback mechanism 19 is used to provide feedback on the torque value.

[0009] Furthermore, the lower fixing mechanism 3 of the cabin includes a mounting plate 23, a rotating disk 24, a Z-axis rotation mechanism 25, and a second auxiliary positioning block 26. The Z-axis rotation mechanism 25 is located on the lower surface of the mounting plate 23, connected to the rotating disk 24, and connected to the Z-axis motor assembly 4. The Z-axis motor assembly 4 drives the cabin 5 to rotate circumferentially. The second auxiliary positioning block 26 is used to assist in positioning the cabin 5.

[0010] Furthermore, the rotating disk 24 adopts a recessed design, and the outer diameter of the cabin 5 and the second auxiliary positioning block 26 are used to achieve rapid positioning of the cabin 5 and the rotating disk 24. The rotating disk 24 and the Z-axis rotation mechanism 25 are fastened by screw connection, and the fixing requirements of cabins 5 with different diameters can be met by replacing the rotating disk 24.

[0011] Furthermore, the elastic plate 22 is made of silicone rubber, an elastic material.

[0012] Furthermore, the X-axis adjustment module includes a first lead screw guide mechanism 12, a first motor drive device 18, an X-axis handwheel 13, and an X-axis mounting plate, which respectively drive the X-axis mounting plate to move along the X-axis linear guide 10 of the first lead screw guide mechanism 12 via the first motor drive device 18 or the X-axis handwheel 13.

[0013] The Y-axis adjustment module includes a second lead screw guide mechanism 7, a second motor drive device 16, a Y-axis handwheel 14, a reducer 15, and a Y-axis mounting plate. The Y-axis mounting plate is driven to move along the Y-axis linear guide 17 of the first lead screw guide mechanism 12 by the second motor drive device 16 or the Y-axis handwheel 14, respectively. The reducer 15 is used to reduce the speed.

[0014] Furthermore, the upper auxiliary fixing module 8 includes a module frame 28 and a first auxiliary positioning block 27. The first auxiliary positioning block 27 adopts an oblong hole design and is fixed to the module frame 28 by a threaded connection. By replacing the first auxiliary positioning block 27 with different shapes, the needs of fixing the cabin 5 with different diameters can be met.

[0015] The present invention also provides a form-adaptive high-moment wing folding method, characterized in that it uses the above-mentioned form-adaptive high-moment wing folding device and includes the following steps:

[0016] Step 1: Mode Selection

[0017] Select "Automatic Mode" or "Manual Mode" using the buttons on the control panel;

[0018] Step 2: Secure the hull 5

[0019] Remove the upper auxiliary fixing module 8; place the cabin 5 with the wing surface installed on the rotating disk 24. At this time, the wing surface is in the unfolded state. Quickly position it using the second auxiliary positioning block 26; adjust the installation position of the second auxiliary positioning block 26 to fix the lower end of the cabin 5; install the upper auxiliary fixing module 8 to fix the upper end of the cabin 5, and then tighten the mounting screws of the second auxiliary positioning block 26.

[0020] Step 3: Wing surface compression

[0021] By manually adjusting the left adjustment module 2 / right adjustment module 9, the force application position of the elastic plate 22 on the wing surface is selected, so that the form and position adaptive adjustment module 11 is in full contact with the wing surface;

[0022] Step 4: Wing folding

[0023] 1) Automatic mode: Start the motor switch, and the wing surfaces begin to fold under the action of the left adjustment module 2 / right adjustment module 9. When the torque value detected by the force feedback mechanism 19 reaches the set value, the motor stops; the two folded wing surfaces are fixed to the cabin 5 by the parts on the cabin 5; the equipment is reset.

[0024] 2) Manual mode: Continue to adjust the left adjustment module 2 / right adjustment module 9 by handwheel to make the wing surface fold towards the cabin 5; after the wing surface is fully in contact with the cabin 5, fix the two folded wing surfaces to the cabin 5 by the parts on the cabin 5; reset the equipment;

[0025] Step 5: Rotate the cabin

[0026] Loosen the second auxiliary positioning block 26 and the first auxiliary positioning block 27 from the cabin 5, start the Z-axis rotation motor to rotate the cabin 5 circumferentially by 180°, and fix the second auxiliary positioning block 26 and the first auxiliary positioning block 27 to the cabin 5.

[0027] Step Six: Wing Folding

[0028] Fold the other two wing surfaces using the same procedure as in step four;

[0029] Step 7: Reset the device

[0030] After folding everything into place, remove cabin 5 and reset the equipment.

[0031] Furthermore, the left adjustment module 2 and the right adjustment module 9 move in coordination or independently under software control to achieve wing folding; the X-axis adjustment module and the Y-axis adjustment module are driven by a motor or operated manually.

[0032] This invention not only completely solves the problems of inconvenient cabin fixing, high personnel involvement, high labor intensity, low automation level, and difficulty in coating protection during the current wing / rudder folding process, but also meets the folding needs of different diameters, different torque values, and different wing structures. At the same time, it avoids the waste of costs caused by repeated investment due to the folding requirements of different product models. Attached Figure Description

[0033] Figure 1 This is a front view structural schematic diagram of the form-position adaptive high-torque wing folding device of the present invention.

[0034] Figure 2 This is a structural diagram of an example of the cabin of the present invention.

[0035] Figure 3 This is a schematic diagram of the structure of the left adjustment module / right adjustment module of the present invention.

[0036] Figure 4 This is a schematic diagram of the form and position adaptive adjustment module of the present invention.

[0037] Figure 5 This is a schematic diagram of the structure of the cabin lower fixing mechanism of the present invention.

[0038] Figure 6 This is a schematic diagram of the upper auxiliary fixing module of the present invention.

[0039] Figure 7 This is a flowchart of the form-position adaptive high-moment wing folding method of the present invention.

[0040] Explanation of reference numerals in the attached drawings: 1-Main body, 2-Left adjustment module, 3-Lower fixing mechanism of the cabin, 4-Z-axis motor assembly, 5-Cabin, 6-Wing surface, 7-Second lead screw guide mechanism, 8-Upper auxiliary fixing module, 9-Right adjustment module, 10-X-axis linear guide, 11-Adaptive adjustment module, 12-First lead screw guide mechanism, 13-X-axis handwheel, 14-Y-axis handwheel, 15-Reducer, 16-Second motor drive device, 17-Y-axis linear guide, 18-First motor drive device, 19-Force feedback mechanism, 20-Torsion spring mechanism, 21-Guide rail slider, 22-Elastic plate, 23-Mounting plate, 24-Rotating disk, 25-Z-axis rotation mechanism, 26-Second auxiliary positioning block, 27-First auxiliary positioning block, 28-Module frame. Detailed Implementation

[0041] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a form-position adaptive high-moment wing folding device and method proposed in this invention.

[0042] Figure 1 This is a front view schematic diagram of the form-position adaptive high-torque wing folding device of the present invention. The high-torque wing folding device of the present invention is used to achieve rapid folding of the wing surface, such as... Figure 1 As shown, the device includes a main body 1, a lower hull fixing mechanism 3 mounted on the main body 1, an upper auxiliary fixing module 8, a left adjustment module 2, a right adjustment module 9, and a shape and position adaptive adjustment module 11 (see figure). Figure 3 The lower fixing mechanism 3 of the cabin works in conjunction with the upper auxiliary fixing module 8 to fix the cabin 5 equipped with the wing surface 6. The left adjustment module 2 and the right adjustment module 9 can achieve coordinated movement or independent movement under software control, thereby realizing the folding of the wing surface.

[0043] Figure 2 This is a structural diagram of an example of the cabin of the present invention. Figure 2 As shown, the periphery of the cabin 5 is fitted with multiple wing surfaces 6. These wing surfaces 6 need to be folded in a specified folding direction.

[0044] Figure 3 This is a structural schematic diagram of the left adjustment module / right adjustment module of the present invention. Figure 3 As shown, the left adjustment module 2 and the right adjustment module 9 are identical, each consisting of one X-axis adjustment module and one Y-axis adjustment module. The X-axis and Y-axis adjustment modules work together to achieve wing folding. The X-axis and Y-axis adjustment modules can be driven by a motor or operated manually.

[0045] The X-axis adjustment module includes a first lead screw guide mechanism 12, a first motor drive device 18, an X-axis handwheel 13, and an X-axis mounting plate. The X-axis mounting plate is moved along the X-axis linear guide 10 of the first lead screw guide mechanism 12 by the first motor drive device 18 or the X-axis handwheel 13.

[0046] The Y-axis adjustment module includes a second lead screw guide mechanism 7, a second motor drive device 16, a Y-axis handwheel 14, a reducer 15, and a Y-axis mounting plate. The Y-axis mounting plate is moved along the Y-axis linear guide 17 of the first lead screw guide mechanism 12 by the second motor drive device 16 or the Y-axis handwheel 14. The reducer 15 is used to reduce the speed.

[0047] The shape and position adaptive adjustment module 11 is connected to the left adjustment module 2 and the right adjustment module 9.

[0048] Figure 4 This is a schematic diagram of the form and position adaptive adjustment module of the present invention. Figure 4 As shown, the form and position adaptive adjustment module 11 consists of an elastic plate 22, a guide rail slider 21, a torsion spring mechanism 20, and a force feedback mechanism 19.

[0049] The elastic plate 22 is quickly connected to the guide rail slider 21 by means of a pin, and its shape design allows for the application of folding force to the wing surface 6 with different structures such as arc and planar shapes. The elastic plate 22 is made of elastic material such as silicone rubber, which avoids direct contact between metal materials and the coating material on the wing surface, thus preventing damage to the coating.

[0050] The form and position adaptive adjustment module 11 is connected to the left adjustment module 2 and the right adjustment module 9. Through the combined action of the guide rail slider 21 and the torsion spring mechanism 20, the form and position adaptive adjustment module 11 is always in close contact with the wing surface 6 during the folding process, ensuring that the coating on the wing surface 6 will not be damaged due to excessive torque.

[0051] Figure 5 This is a schematic diagram of the structure of the cabin lower fixing mechanism of the present invention. Figure 5 As shown, the cabin lower fixing mechanism 3 of the present invention consists of a mounting plate 23, a rotating disk 24, a Z-axis rotation mechanism 25, and a second auxiliary positioning block 26. The Z-axis rotation mechanism 25 is located on the lower surface of the mounting plate 23 and is driven by a Z-axis motor assembly 4 to achieve circumferential rotation of the cabin 5. The Z-axis rotation mechanism 25 is connected to the rotating disk 24 and to the Z-axis motor assembly 4 (… Figure 1 The rotating disk 24, with its recessed design, utilizes the outer diameter of the cabin 5 and the second auxiliary positioning block 26 to achieve rapid positioning of the cabin 5 and the rotating disk 24. The rotating disk 24 and the Z-axis rotation mechanism 25 are quickly fixed together by a screw connection, allowing for the fixing of cabins 5 of different diameters by replacing the rotating disk 24. The second auxiliary positioning block 26 is used for auxiliary positioning of the cabin 5.

[0052] Figure 6 This is a structural schematic diagram of the upper auxiliary fixing module of the present invention. Figure 6 As shown, the upper auxiliary fixing module 8 of the present invention consists of a module frame 28 and a first auxiliary positioning block 27. The first auxiliary positioning block 27 adopts an oblong hole design and is fixed to the module frame 28 by a threaded connection. By replacing the first auxiliary positioning block 27 with different shapes, the fixing requirements of the cabin 5 with different diameters can be met.

[0053] The present invention also relates to a form-adaptive high-torque wing folding method, wherein the cabin to be folded is placed and fixed on the above-mentioned form-adaptive high-torque wing folding device, and the wing surface on the cabin is rapidly bent through steps such as mode selection, wing surface pressing, wing surface folding, cabin rotation, and wing surface folding again.

[0054] Specifically, the form-position adaptive high-moment wing folding method of the present invention includes the following steps:

[0055] Step 1: Mode Selection

[0056] Select "Automatic Mode" or "Manual Mode" using the buttons on the control panel.

[0057] Step 2: Secure the hull 5

[0058] Remove the upper auxiliary fixing module 8; place the cabin 5 with the wing surface installed (in the deployed state) on the rotating disk 24 and quickly position it using the second auxiliary positioning block 26; adjust the installation position of the second auxiliary positioning block 26 to fix the lower end of the cabin 5; install the upper auxiliary fixing module 8 to fix the upper end of the cabin 5, and then tighten the mounting screws of the second auxiliary positioning block 26.

[0059] Step 3: Wing surface compression

[0060] By manually adjusting the left adjustment module 2 / right adjustment module 9, the force application position of the elastic plate 22 on the wing surface is selected, so that the form and position adaptive adjustment module 11 is in full contact with the wing surface.

[0061] Step 4: Wing folding

[0062] 1) Automatic mode: Start the motor switch, and the wings begin to fold under the action of the left adjustment module 2 / right adjustment module 9. When the torque value detected by the force feedback mechanism 19 reaches the set value, the motor stops; the two folded wings are fixed to the cabin 5 by the parts on the cabin 5; the equipment is reset.

[0063] 2) Manual mode: Continue to adjust the left adjustment module 2 / right adjustment module 9 by handwheel to make the wing surface fold towards the cabin 5; after the wing surface and the cabin 5 are fully in contact, fix the two folded wing surfaces to the cabin 5 by the parts on the cabin 5; reset the equipment.

[0064] Step 5: Rotate the cabin

[0065] Loosen the second auxiliary positioning block 26 and the first auxiliary positioning block 27 from the cabin 5, start the Z-axis rotation motor to rotate the cabin 5 circumferentially by 180°, and fix the second auxiliary positioning block 26 and the first auxiliary positioning block 27 to the cabin 5.

[0066] Step Six: Wing Folding

[0067] Fold the other two wings using the same procedure as in step four.

[0068] Step 7: Reset the device

[0069] After folding everything into place, remove cabin 5 and reset the equipment.

[0070] Figure 7 This is a flowchart of the form-position adaptive high-moment wing folding method of the present invention. Figure 7 As shown, the form-position adaptive high-moment wing folding method of the present invention includes the following steps in automatic and manual modes:

[0071] (a) Automatic folding mode

[0072] Remove the upper auxiliary fixing module 8; place the cabin 5 with the wing surface installed (in the deployed state) on the rotating disk 24 and quickly position it through the positioning holes; adjust the installation position of the second auxiliary positioning block 26 to fix the lower end of the cabin 5; install the upper auxiliary fixing module 8 to fix the upper end of the cabin 5, and then tighten the mounting screws of the second auxiliary positioning block 26; manually adjust the left adjustment module 2 / right adjustment module 9 to select the force application position of the elastic plate 22 on the wing surface, so that the form and position adaptive adjustment module 11 is in full contact with the wing surface; start the motor switch, and adjust the left adjustment module 2 / right adjustment module 9... Under the action of block 9, the wing surface begins to fold. When the torque value detected by the force feedback mechanism 19 reaches the set value, the motor stops. The two folded wing surfaces are fixed to the cabin 5 by the parts on the cabin 5. The equipment is reset. The fixation between the second auxiliary positioning block 26, the first auxiliary positioning block 27 and the cabin 5 is released. The Z-axis rotation motor is started to rotate the cabin 5 circumferentially by 180°, and the second auxiliary positioning block 26, the first auxiliary positioning block 27 and the cabin 5 are fixed. The other two wing surfaces are folded in the same way. After all are folded in place, the cabin 5 is removed and the equipment is reset.

[0073] (II) Manual Folding Mode

[0074] Remove the upper auxiliary fixing module 8; place the cabin 5 with the wing surface installed (in the deployed state) on the rotating disk 24 and quickly position it through the positioning holes; adjust the installation position of the second auxiliary positioning block 26 to fix the lower end of the cabin 5; install the upper auxiliary fixing module 8 to fix the upper end of the cabin 5, and then tighten the mounting screws of the second auxiliary positioning block 26; manually adjust the left adjustment module 2 / right adjustment module 9 to select the force application position of the elastic plate 22 on the wing surface, so that the form and position adaptive adjustment module 11 is in full contact with the wing surface; continue to adjust the left adjustment module 2 by handwheel. Adjust the right adjustment module 9 to continuously fold the wing surface towards the cabin 5; after the wing surface and cabin 5 are fully in contact, fix the two folded wing surfaces to the cabin 5 using the parts on the cabin 5; reset the equipment; loosen the fixation between the second auxiliary positioning block 26, the first auxiliary positioning block 27 and the cabin 5, start the Z-axis rotation motor to rotate the cabin 5 circumferentially by 180°, and fix the second auxiliary positioning block 26, the first auxiliary positioning block 27 and the cabin 5; fold the other two wing surfaces according to the same operation as above, and after all are folded in place, remove the cabin 5 and reset the equipment.

[0075] This invention, through its modular and flexible design, enables the device to adapt to the folding needs of cabins with different diameters, different torque values, and different wing structures. It completely solves the wing folding requirements during the assembly of aerospace products, especially for wings with high torque values. This not only reduces the labor intensity of operators but also avoids the waste of costs caused by repeated investment due to the folding requirements of different product models.

[0076] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A form- and position-adaptive high-moment wing folding device, characterized in that, It includes a main body (1), a lower cabin fixing mechanism (3) set on the main body (1), an upper auxiliary fixing module (8), a left adjustment module (2), a right adjustment module (9), and a form and position adaptive adjustment module (11). The lower cabin fixing mechanism (3) works in conjunction with the upper auxiliary fixing module (8) to fix the cabin (5) equipped with the wing surface (6). The left adjustment module (2) and the right adjustment module (9) realize the folding of the wing surface. The form and position adaptive adjustment module (11) is connected to the left adjustment module (2) and the right adjustment module (9) so that the form and position adaptive adjustment module (11) is always in close contact with the wing surface (6) during the folding process, ensuring that the coating on the wing surface (6) will not be damaged due to excessive torque. The form and position adaptive adjustment module (11) includes an elastic plate (22), a guide rail slider (21), a torsion spring mechanism (20), and a force feedback mechanism (19). The elastic plate (22) is connected to the guide rail slider (21). The shape design ensures that folding force is applied to the wing surface (6) with different structures such as arc and planar. Through the joint action of the guide rail slider (21) and the torsion spring mechanism (20), the form and position adaptive adjustment module (11) is always in close contact with the wing surface (6) during the folding process. The force feedback mechanism (19) is used to provide feedback on the torque value. The lower fixing mechanism (3) of the cabin includes a mounting plate (23), a rotating disk (24), a Z-axis rotation mechanism (25), and a second auxiliary positioning block (26). The Z-axis rotation mechanism (25) is located on the lower surface of the mounting plate (23), connected to the rotating disk (24), and connected to the Z-axis motor assembly (4). The Z-axis motor assembly (4) drives the cabin (5) to rotate circumferentially. The second auxiliary positioning block (26) is used to assist in positioning the cabin (5). The upper auxiliary fixing module (8) includes a module frame (28) and a first auxiliary positioning block (27). The first auxiliary positioning block (27) adopts a waist-shaped hole design and is fixed to the module frame (28) by a threaded connection. By replacing the first auxiliary positioning block (27) with different shapes, the needs of fixing cabins (5) of different diameters can be met.

2. The form-adaptive high-moment wing folding device according to claim 1, characterized in that, The left adjustment module (2) and the right adjustment module (9) are identical, each consisting of one X-axis adjustment module and one Y-axis adjustment module. The X-axis adjustment module and the Y-axis adjustment module work together to achieve folding of the wing surface.

3. The form-adaptive high-moment wing folding device according to claim 1, characterized in that, The rotating disk (24) adopts a recessed design. The outer diameter of the cabin (5) and the second auxiliary positioning block (26) are used to achieve rapid positioning of the cabin (5) and the rotating disk (24). The rotating disk (24) and the Z-axis rotation mechanism (25) are connected by screws to achieve rapid fixation. The fixing requirements of cabins (5) with different diameters can be met by replacing the rotating disk (24).

4. The form-adaptive high-moment wing folding device according to claim 2, characterized in that, The elastic plate (22) is made of elastic material silicone rubber.

5. The form-adaptive high-moment wing folding device according to claim 1, characterized in that, The X-axis adjustment module includes a first lead screw guide mechanism (12), a first motor drive device (18), an X-axis handwheel (13), and an X-axis mounting plate. The X-axis mounting plate is driven to move along the X-axis linear guide (10) of the first lead screw guide mechanism (12) by the first motor drive device (18) or the X-axis handwheel (13). The Y-axis adjustment module includes a second lead screw guide mechanism (7), a second motor drive device (16), a Y-axis handwheel (14), a reducer (15), and a Y-axis mounting plate. The Y-axis mounting plate is driven to move along the Y-axis linear guide (17) of the first lead screw guide mechanism (12) by the second motor drive device (16) or the Y-axis handwheel (14), and the reducer (15) is used to reduce the speed.

6. A form-position adaptive high-moment wing folding method, characterized in that, The form-adaptive high-moment wing folding device according to any one of claims 1 to 5 includes the following steps: Step 1: Mode Selection Select "Automatic Mode" or "Manual Mode" using the buttons on the control panel; Step 2: Fixing the cabin (5) Remove the upper auxiliary fixing module (8); place the cabin (5) with the wing surface installed on the rotating disk (24). At this time, the wing surface is in the unfolded state. Quickly position it by using the second auxiliary positioning block (26); adjust the installation position of the second auxiliary positioning block (26) to fix the lower end of the cabin (5); install the upper auxiliary fixing module (8) to fix the upper end of the cabin (5), and then tighten the mounting screws of the second auxiliary positioning block (26); Step 3: Wing surface compression By manually adjusting the left adjustment module (2) / right adjustment module (9), the force application position of the elastic plate (22) on the wing surface is selected so that the form and position adaptive adjustment module (11) is in full contact with the wing surface; Step 4: Wing folding 1) Automatic mode: Start the motor switch, and the wings begin to fold under the action of the left adjustment module (2) / right adjustment module (9). When the torque value detected by the force feedback mechanism (19) reaches the set value, the motor stops; fix the folded wings to the cabin (5) through the parts on the cabin (5); reset the equipment; 2) Manual mode: Continue to adjust the left adjustment module (2) / right adjustment module (9) by handwheel to make the wing surface fold towards the cabin (5); after the wing surface and the cabin (5) are fully in contact, fix the two folded wing surfaces to the cabin (5) by the parts on the cabin (5); reset the equipment; Step 5: Rotate the cabin Loosen the second auxiliary positioning block (26), the first auxiliary positioning block (27) and the cabin (5) and start the Z-axis rotation motor to rotate the cabin (5) circumferentially by 180° and fix the second auxiliary positioning block (26), the first auxiliary positioning block (27) and the cabin (5) to the cabin (5); Step Six: Wing Folding Fold the other two wing surfaces using the same procedure as in step four; Step 7: Reset the device After folding everything into place, remove the cabin (5) and reset the equipment.

7. The form-position adaptive high-moment wing folding method according to claim 6, characterized in that, The left adjustment module (2) and the right adjustment module (9) move in coordination or independently under the control of the software to achieve folding of the wing surface; the X-axis adjustment module and the Y-axis adjustment module are driven by motors or operated manually.

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