A waterbomb-crease-based over-constrained modular morphing wing skeleton mechanism

Abstract

The application discloses a kind of over-constrained modular morphing wing skeleton mechanism based on Waterbomb crease, belong to aerospace technology field, including multiple wing ribs, multiple transverse deformation modules, multiple support ribs.The application utilizes over-constrained transverse deformation module to realize modular expansion, the mechanism has the characteristics such as structure stability, simple driving, and modularization also reduces production difficulty and the complexity of mechanism;Paper folding theory is applied to the design of morphing wing skeleton mechanism, and the paper folding mechanism has structural rationality and morphological variability.Combining the deformation mode required by the morphing wing, the paper folding unit can realize multi-dimensional continuous deformation as the basic module of the deformation mechanism.The morphing wing skeleton mechanism of the application can realize wing sweepback deformation, up and down bending deformation along the wingspan and bending-sweep coupling deformation, which helps the aircraft wing aerodynamic shape to tend to be optimal.The over-constrained transverse deformation module used has the characteristics of large load bearing and high stiffness, greatly improving the stiffness of the morphing wing skeleton mechanism itself.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, and more specifically to an over-constrained modular deformable wing frame mechanism based on Waterbomb creases. Background Technology

[0002] In recent years, my country has successively launched and implemented national key projects for high-speed aircraft such as air superiority fighters. The application scenarios represented by morphing wings of aircraft have put forward new challenges to morphing mechanisms: First, multi-configuration morphing, a single wing morphing form is no longer enough to meet people's requirements for wide-speed range flight and multi-environment adaptability of aircraft; Second, large load-bearing capacity, the extremely complex flight environment and working conditions require the structure to have a certain structural stiffness and load-bearing capacity while having large morphing capacity.

[0003] At the practical application level, researchers both domestically and internationally have mastered the wing shapes and required deformation forms corresponding to the optimal flight performance of aircraft in different flight environments. However, most mechanisms have a single deformation form, which has limited impact on improving aircraft flight performance and enhancing multi-mission adaptability. At the academic research and innovation level, both domestically and internationally, rapid development has been maintained, and mechanism design has made significant progress. However, complex flight environments and operating conditions place stringent performance requirements on deformable mechanisms. Research on the configuration design and deformation performance of multi-dimensional deformable mechanisms remains relatively limited. Therefore, it is necessary to conduct research on deformable mechanisms with certain structural stiffness and load-bearing capacity that can achieve multi-dimensional continuous deformation.

[0004] To address the requirements of high-speed aircraft for multi-configuration deformation and high load-bearing capacity, this invention proposes an over-constrained modular deformable wing frame mechanism based on Waterbomb creases. Summary of the Invention

[0005] The technical problem to be solved by this invention is: how to meet the requirements of multi-configuration deformation and high load-bearing capacity proposed by high-speed aircraft, and provides an over-constrained modular deformable wing frame mechanism based on Waterbomb creases.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution: The present invention includes multiple wing ribs, multiple lateral deformation modules, and multiple support ribs. The lateral deformation modules are disposed between two adjacent wing ribs and are connected to the wing ribs on both sides via the support ribs. Each lateral deformation module includes two symmetrically arranged triangular frames, a Hooke's hinge, and two folding rods. The two triangular frames are fixedly connected to the wing ribs via the support ribs, and the tops of the two triangular frames are connected via the Hooke's hinge. The two ends of the two folding rods are respectively connected to the bottom sides of the two triangular frames.

[0007] Furthermore, the wing rib includes an airfoil support frame and a reinforcing rib. The reinforcing rib is disposed on the inner side of the airfoil support frame. Both sides of the reinforcing rib are provided with connecting holes for the installation of the support rib, and are connected and fixed to the support rib through the connecting holes.

[0008] Furthermore, the supporting rib includes two upper ribs and four lower ribs; one end of the two upper ribs is connected to the reinforcing rib, and the other end converges and connects to the upper part of the triangular frame, and a connecting rib for enhancing stability is provided between the two upper ribs; the four lower ribs are divided into two groups, located on both sides of the bottom of the triangular frame respectively, and the two lower ribs in the same group are set in the same direction, one end of the lower rib located at the near end is connected to the reinforcing rib, and the other end is connected to the bottom of the triangular frame, and one end of the lower rib located at the far end is connected to the reinforcing rib, and the other end is connected to the bottom of the triangular frame through a cylindrical rod.

[0009] Furthermore, the triangular frame is provided with a weight-reducing groove, and a reinforcing rib is provided between the two hypotenuses. The top of the triangular frame is provided with a Hooke's hinge insertion hole, in which the Hooke's hinge can be inserted. The two ends of the folding rod are provided with folding rod insertion holes. The axial direction of the folding rod insertion holes is based on the crease of the Waterbomb origami unit and is consistent with the hypotenuse direction of the triangular frame, pointing to the intersection of the axes of the Hooke's hinge. The folding rod insertion hole cooperates with the cylindrical rod at one end of the lower rib to form a revolute joint. The two folding rods and the triangular frames on both sides are connected to form a quadrangular pyramid mechanism. Sleeves are provided on both the upper and lower sides of the folding rod insertion hole to limit the position of the folding rod.

[0010] Furthermore, the Hooke hinge includes four hinge rods, two hinge seats, a center block, and four pins; the center block has a cross-shaped inner hole, with two hinge rods fitted into the cross-shaped inner hole of the center block; the top two sides of the hinge seat have mounting holes, and the bottom of the hinge seat has adjustment holes perpendicular to the mounting holes; two hinge rods are inserted into the mounting holes of the hinge seat after passing through the center block, and the remaining hinge rods are inserted into the adjustment holes; the bottom of the hinge seat is connected to the top of the triangular frame; each hinge rod has a pin hole at one end, and the pins are inserted into the pin holes.

[0011] Furthermore, the folding rod is a component of the lateral deformation module that enables wingspan sweep deformation and wingspan bending deformation. It includes a synchronous hinge, a locking device, and a driving device. The synchronous hinge is used to fold or unfold to achieve deformation. The locking device is used to improve the stability of the mechanism after deformation. The driving device is used to drive the synchronous hinge to complete the corresponding folding or unfolding action.

[0012] Furthermore, there are two synchronous hinges, symmetrically distributed, with the axes of the two synchronous hinges intersecting and pointing towards the intersection point of the axes of the Hooke hinge. Two spherical hinge seats are symmetrically arranged at the upper ends of the two synchronous hinges, and spherical hinge joints matching the spherical hinge seats are provided at both ends of the driving device. The synchronous hinges and the driving device are connected through the spherical hinge seats and the spherical hinge joints.

[0013] Furthermore, the synchronous hinge includes a male hinge, a female hinge, two synchronous cylindrical rods, two synchronous rod connectors, two spiral springs, an adjusting bolt, and a positioning pin. The distal ends of the two synchronous cylindrical rods are each provided with mounting holes for connecting to the synchronous rod connectors. The two synchronous cylindrical rods are connected to the triangular frames on both sides through the synchronous rod connectors to form a bottom quadrilateral frame. The proximal ends of the two synchronous cylindrical rods are respectively connected to the male hinge and the female hinge. The male hinge and the female hinge are rotatably connected. The locking device is located at the connection between the male hinge and the female hinge. The adjusting bolt is coaxially located on the rotation axis of the synchronous hinge, and the spiral spring is sleeved on the adjusting bolt.

[0014] Furthermore, the driving device also includes a motor and a push rod, the extension and retraction of which is controlled by the motor, and the end of the push rod is fixedly connected to the spherical hinge joint.

[0015] Furthermore, the locking device includes a base, a spring, a limiting pin, an eccentric shaft, a limiting groove, and a limiting switch. The base is located on one side of the female hinge in the synchronous hinge. A insertion hole is provided inside the base, and the spring is located within the insertion hole and sleeved on one end of the limiting pin. A limiting fixing shaft is provided at the other end of the limiting pin. The limiting groove is located at a corresponding position on the male hinge. Under the elastic force of the spring, the limiting fixing shaft of the limiting pin is engaged in the limiting groove and contacts the groove wall. The end of the limiting pin sleeved with the spring is detachably mounted on the base to achieve rotational movement of the limiting pin. A mounting hole is vertically provided on the female hinge. The eccentric shaft passes through the male hinge and is inserted into the mounting hole. Adjusting the eccentric shaft controls the position of its upper disc. During the movement of the synchronous hinge, the limiting switch contacts the upper disc of the eccentric shaft to limit movement and control the motor's start and stop.

[0016] Compared with existing technologies, this invention has the following advantages: The over-constrained modular deformable wing frame mechanism based on Waterbomb creases utilizes over-constrained lateral deformation modules to achieve modular expansion. This mechanism features structural stability and simple actuation, while modularity reduces production difficulty and complexity. Applying origami theory to the design of the deformable wing frame mechanism, the origami mechanism possesses structural rationality and morphological variability. Combined with the required deformation modes of the deformable wing, using origami units as the basic modules of the deformable mechanism enables multi-dimensional continuous deformation. The deformable wing frame mechanism of this invention can achieve wing sweep deformation, vertical bending deformation along the wingspan, and sweep-coupled deformation, contributing to optimizing the aerodynamic shape of the aircraft wing. The over-constrained lateral deformation modules themselves possess high load-bearing capacity and high stiffness, greatly improving the stiffness of the deformable wing frame mechanism itself. Attached Figure Description

[0017] Figure 1 This is an assembly structure diagram of the over-constrained modular deformable wing frame mechanism based on Waterbomb creases in an embodiment of the present invention;

[0018] Figure 2 This is a swept-back deformation diagram of the over-constrained modular deformable wing frame mechanism based on Waterbomb creases in an embodiment of the present invention.

[0019] Figure 3 This is a bending diagram along the wingspan of the over-constrained modular deformable wing frame mechanism based on Waterbomb creases in an embodiment of the present invention.

[0020] Figure 4 This is a sweeping coupling deformation diagram of the over-constrained modular deformable wing frame mechanism based on Waterbomb creases in an embodiment of the present invention.

[0021] Figure 5 This is a diagram of the wing rib structure of the over-constrained modular deformable wing frame mechanism based on Waterbomb creases in an embodiment of the present invention.

[0022] Figure 6 This is the initial pose diagram of the lateral deformation module of the over-constrained modular deformable wing frame mechanism based on Waterbomb creases in this embodiment of the invention.

[0023] Figure 7 This is a schematic diagram of the lateral deformation module structure of the over-constrained modular deformable wing frame mechanism based on Waterbomb creases in an embodiment of the present invention;

[0024] Figure 8 This is a schematic diagram of the Hooke hinge structure of the lateral deformation module of the over-constrained modular deformable wing frame mechanism based on the Waterbomb crease in an embodiment of the present invention.

[0025] Figure 9 This is a schematic diagram of the folding rod structure at the bottom of the lateral deformation module of the over-constrained modular deformable wing skeleton mechanism based on Waterbomb creases in an embodiment of the present invention.

[0026] Figure 10 This is a schematic diagram of the drive device structure above the folding rod of the over-constrained modular deformable wing skeleton mechanism based on Waterbomb creases in an embodiment of the present invention.

[0027] Figure 11 This is a schematic diagram of the locking device structure of the over-constrained modular deformable wing frame mechanism based on Waterbomb creases in an embodiment of the present invention.

[0028] The numbers in the diagram represent:

[0029] 1- Lateral deformation module; 2- Wing rib; 3- Support rib; 4- Hooke hinge; 5- Folding rod; 6- Synchronous hinge; 7- Locking device; 8- Drive device; 9- Triangular frame; 101- Reinforcing rib; 102- First triangular frame; 103- Second triangular frame; 104- Hooke hinge insertion hole; 105- Folding rod insertion hole; 106- First folding rod; 107- Second folding rod; 108- Sleeve; 201- Airfoil support frame; 202- Reinforcing rib; 301- First rib; 302- Second rib; 303- Third rib; 304- Fourth rib; 305- Connecting rib; 401- First hinge rod; 402- Second hinge rod; 403- Center block; 404- First hinge seat; 405- The first hinge... Two-hinge base; 406-Third hinge rod; 407-Fourth hinge rod; 408-Pin; 501-First synchronous hinge; 502-Second synchronous hinge; 503-Male hinge; 504-Female hinge; 505-First synchronous cylindrical rod; 506-Second synchronous cylindrical rod; 507-First synchronous rod joint; 508-Second synchronous rod joint; 509-First spiral spring; 510-Second spiral spring; 511-Adjusting bolt; 512-Positioning pin; 513-Spherical hinge base; 701-Base; 702-Spring; 703-Limit pin; 704-Eccentric shaft; 705-Limit groove; 706-Limit switch; 801-Motor; 802-Push rod; 803-First spherical hinge joint; 804-Second spherical hinge joint. Detailed Implementation

[0030] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0031] Example 1

[0032] This embodiment provides a technical solution: an over-constrained modular deformable wing frame mechanism based on Waterbomb creases, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, Figure 1 This is a general assembly structural diagram of an over-constrained modular deformable wing frame mechanism based on Waterbomb creases. Figure 2 The swept-back deformation diagram is shown for the over-constrained modular deformable wing frame mechanism based on Waterbomb creases. Figure 3 A diagram showing the bending along the wingspan of an over-constrained modular deformable wing frame mechanism based on Waterbomb creases; Figure 4 The diagram shows the sweep-coupled deformation of the over-constrained modular deformable wing frame mechanism based on Waterbomb creases.

[0033] This invention relates to an over-constrained modular deformable wing frame mechanism based on Waterbomb creases, comprising multiple wing ribs 2 distributed along a straight line and multiple lateral deformable modules 1. The lateral deformable modules 1 are symmetrically arranged on both sides of the aircraft fuselage, and adjacent lateral deformable modules 1 are connected by support ribs 3 of the wing ribs 2, and are sequentially stacked and fixed together. The lateral deformable module 1 includes a triangular frame 9 fixedly connected to the support ribs 3 on both sides, a Hooke hinge 4 connected to the top of the triangular frames 9 on both sides, and a folding rod 5 connected to the bottom of the triangular frames 9 on both sides.

[0034] like Figure 5 As shown, Figure 5 This is a wing rib diagram of an over-constrained modular deformable wing skeleton mechanism based on Waterbomb creases. The wing ribs 2 are distributed laterally along a straight line. The wing ribs 2 include an airfoil support frame 201. The external geometry of the airfoil support frame 201 is determined by the aerodynamic shape of the wing. A cross-shaped reinforcing rib 202 is fixed on the inner side of the airfoil support frame 201. Both sides of the reinforcing rib 202 are provided with connection holes for mounting the support ribs 3.

[0035] Example 2

[0036] like Figure 6 As shown, Figure 6 This is the initial pose diagram of the lateral deformable module of the over-constrained modular deformable wing frame mechanism based on the Waterbomb crease. Support rib 3 includes two upper ribs and four lower ribs. The upper ribs have weight-reducing grooves. A connecting rib 305 for enhanced stability is provided between the first rib 301 and the second rib 302, and the first rib 301 and the second rib 302 intersect. The third rib 303 and the fourth rib 304 on one side of the lower ribs are aligned in the same direction and are fixedly connected by a cylindrical rod. The two ribs on the other side are symmetrically arranged.

[0037] like Figure 7 As shown, Figure 7 This is a schematic diagram of the lateral deformation module structure of the over-constrained modular deformable wing skeleton mechanism based on the Waterbomb crease. The triangular frame 9 in the lateral deformation module has a weight-reducing groove, and a reinforcing rib 101 connects the two hypotenuses. The two sides of the triangular frame 9 are symmetrically arranged, and the tops are connected by a Hooke's hinge 4. The tops of the first triangular frame 102 and the second triangular frame 103 are provided with Hooke's hinge insertion holes 104, into which the Hooke's hinge 4 can be inserted. The base of the triangular frame 9 is fixedly connected to the lower two ribs of the supporting rib 3. The bottom of the lateral deformation module is formed by the bottom edges of the first triangular frame 102 and the second triangular frame 103, as well as the folding rods 5 on both sides, forming a quadrilateral frame. The folding rods 5 are provided with folding rod insertion holes 105 at both ends. The axial direction of the folding rod insertion holes 105 is based on the fold lines of the Waterbomb origami unit and is consistent with the four hypotenuses of the bottom of the two triangular rods, pointing to the intersection of the axes of the Hooke hinge 4. The folding rod insertion holes 105 cooperate with the cylindrical rods between the third rib 303 and the fourth rib 304 to form a rotating pair. The first folding rod 106 and the second folding rod 107 are symmetrically connected to the bottom edges of the first triangular frame 102 and the second triangular frame 103. The two sets of first folding rods 106 and second folding rods 107 are connected with the first triangular frame 102 and the second triangular frame 103 on both sides to form a quadrangular pyramid mechanism. Sleeves 108 are provided on the upper and lower sides of the folding rod insertion holes 105 to limit the position of the folding rods.

[0038] Example 3

[0039] like Figure 8 As shown, Figure 8 This is a schematic diagram of the Hooke hinge structure of the lateral deformable module in the over-constrained modular deformable wing frame mechanism based on the Waterbomb crease. The Hooke hinge 4 includes four hinge rods (first hinge rod 401, second hinge rod 402, third hinge rod 406, and fourth hinge rod 407), two hinge seats (first hinge seat 404 and second hinge seat 405), a center block 403, and four pins 408. The center block 403 has a cross-shaped inner hole, and the first hinge rod 401 and the second hinge rod 402 mate with the cross-shaped inner hole of the center block 403. Insertion holes are provided on both sides of the top of the hinge seat, and adjustment holes perpendicular to the insertion holes are provided at the bottom of the hinge seat. The axial directions of the first hinge seat 404 and the second hinge seat 405 are perpendicular to the axial direction of the insertion holes at their upper ends.

[0040] The first hinge rod 401 and the second hinge rod 402 pass through the center block 403 and are respectively inserted into the insertion holes at the upper ends of the first hinge seat 404 and the second hinge seat 405. The center block 403 is located at the intersection of the insertion holes of the first hinge seat 404 and the second hinge seat 405. The third hinge rod 406 and the fourth hinge rod 407 are located in the adjustment holes below the first hinge seat 404 and the second hinge seat 405. Each hinge rod has a pin hole at one end, and a pin 408 can be inserted into the pin hole. Rotating the pin can adjust the rotation angle of the hinge rod. The first hinge seat 404 and the second hinge seat 405 can rotate around the first hinge rod 401 and the second hinge rod 402.

[0041] Example 4

[0042] like Figure 9 As shown, Figure 9 This is a schematic diagram of the folding rod 5 at the bottom of the lateral deformable module of the over-constrained modular deformable wing frame mechanism based on the Waterbomb crease. (Combined with...) Figure 7 As shown, the folding rod 5 includes a synchronous hinge 6 for folding or unfolding to achieve deformation, a locking device 7 for improving the stability of the mechanism after deformation, and a driving device 8 for driving the synchronous hinge 6 to complete the corresponding folding and unfolding functions. The folding rod 5 is a component of the lateral deformation module 1 that realizes wingspan sweep deformation, wingspan bending deformation, and bending-sweep coupling deformation. The first synchronous hinge 501 and the second synchronous hinge 502 are symmetrically distributed on two opposite sides of the bottom quadrilateral frame. The axes of the first synchronous hinge 501 and the second synchronous hinge 502 intersect, both pointing to the intersection point of the axes of the Hooke hinge 4. The synchronous hinge 6 includes a male hinge 503, a female hinge 504, two synchronous cylindrical rods 505 and 506, two synchronous rod joints 507 and 508, two spiral springs 509 and 510, an adjusting bolt 511, and a positioning pin 512. The adjusting bolt 511 is coaxially arranged with the rotation axis of the male hinge 503 and the female hinge 504. The first spiral spring 509 and the second spiral spring 510 are both sleeved on the adjusting bolt 511. The upper end of the first spiral spring 509 and the lower end of the second spiral spring 510 are provided with two mounting holes. The female hinge 504 is provided with corresponding threaded holes. The two spiral springs and the female hinge 504 are connected by screws.

[0043] Both ends of the first synchronous cylindrical rod 505 and the second synchronous cylindrical rod 506 are provided with mounting holes, which are respectively connected to the male hinge 503 and the female hinge 504, as well as the first synchronous rod connector 507 and the second synchronous rod connector 508. The first synchronous rod connector 507 is provided with a insertion hole, which mates with the cylindrical rod between the third rib 303 and the fourth rib 304 of the support rib. The first synchronous rod connector 507 and the second synchronous rod connector 508 are respectively fitted onto the cylindrical rod. The first synchronous rod connector 507 and the second synchronous rod connector 508 are respectively connected to the base of the first triangular frame 102 and the second triangular frame 103 to form a bottom quadrilateral frame. Spherical hinge seats 513 are symmetrically arranged above the first synchronous cylindrical rod 505 and the second synchronous cylindrical rod 506, and the spherical hinge seats 513 are fixedly connected to the synchronous cylindrical rods by fixing rods. The drive device 8 has a first spherical hinge joint 803 and a second spherical joint 804 at both ends that match the spherical hinge seat 513. The synchronous hinge 6 and the drive device 8 are connected through the spherical hinge seat 513 and the first spherical hinge joint 803 and the second spherical hinge joint 804. The inner sides of the first synchronous hinge 501 and the second synchronous hinge 502 are both provided with locking devices 7.

[0044] like Figure 11 As shown, the locking device 7 includes a base 701, a spring 702, a limiting pin 703, an eccentric shaft 704, a limiting groove 705, and a limiting switch 706. The base 701 is fixed to one side of the female hinge 504 in the synchronous hinge 6. The female hinge 504 has a vertically arranged mounting hole. An axial insertion hole is provided in the base 701. The spring 702 is arranged in the insertion hole and is sleeved on one end of the limiting pin 703. The other end of the limiting pin 703 is provided with a limiting fixing shaft. The limiting groove 705 is arranged at the corresponding position on the male hinge 503. Under the elastic force of the spring 702, the limiting fixing shaft of the limiting pin 703 is locked in the limiting groove 705 and contacts the groove wall of the limiting groove 705. The end of the limiting pin 703 that is sleeved with the spring 702 is detachably arranged on the base 701 to realize the rotational movement of the limiting pin 703 and facilitate the installation of the limiting pin 703 and the spring 702.

[0045] The locking device 7 uses the inertia of the folding rod 5 during movement to cause the limiting pin 703 to engage in the limiting groove 705. Driven by the elastic potential energy of the spring 702, the limiting pin 703 is fixed in the slot of the base, achieving locking. Unlocking is achieved by disengaging the limiting pin 703 from the limiting groove 705 over the elastic potential energy of the spring 702. The eccentric shaft 704 passes through the male hinge 503 and is inserted into the mounting hole. Adjusting the eccentric shaft 704 controls the position of its upper disc. During the movement of the synchronous hinge 6, the limit switch 706 contacts the upper disc of the eccentric shaft 704 to limit movement, controlling the start and stop of the motor 801.

[0046] Example 5

[0047] like Figure 10 As shown, Figure 10 This is a schematic diagram of the drive device 8 above the folding rod of the over-constrained modular deformable wing frame mechanism based on the Waterbomb crease. The drive device 8 includes a motor 801, a push rod 802, a first spherical hinge joint 803, and a second spherical hinge joint 804. The push rod 802 is installed in a slide seat perpendicular to the motor 801. The extension and retraction of the push rod 802 is driven and controlled by the motor 801, converting the rotational motion of the motor 801 into linear motion. The push rod action is completed by the forward and reverse rotation of the motor 801. The first spherical hinge joint 803 is fixedly connected to the front end of the push rod 802, and the second spherical hinge joint 804 is fixedly connected to the end of the drive device 8. The first spherical hinge joint 803 and the second spherical hinge joint 804 are respectively connected to spherical hinge seats 513 symmetrically arranged above the first synchronous cylindrical rod 507 and the second synchronous cylindrical rod 508, respectively, transmitting the push rod action to the folding rod 5 to complete the folding action.

[0048] Working principle:

[0049] The deformable wing frame of this invention can undergo sweep-back deformation, span bending deformation, and bend-coupled deformation. These three deformation methods are achieved by multiple lateral deformation modules through the folding and unfolding of folding rods. After each deformation is completed, a locking device locks the structure to ensure it remains stable after deformation.

[0050] The deformable wing frame is composed of multiple transverse deformable modules connected in series, with adjacent modules linked by wing ribs distributed along the wingspan. For example... Figure 2 , Figure 3 , Figure 4 As shown, when the two bottom actuators are driven synchronously, the triangular frames on both sides symmetrically retract and the wing sweeps back, deforming the aircraft. When only one actuator is driven, the module retracts to one end and deforms, changing the spanwise curvature of the wing. When the two actuators are driven differentially, the module twists, and the wing can also twist. The ability to execute different deformation modes gives the morphing wing a high degree of adaptability and control, which is crucial for modern aircraft operating at various speeds and conditions.

[0051] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A constrained modular deformable wing frame mechanism based on Waterbomb creases, characterized in that, It includes multiple wing ribs, multiple lateral deformation modules, and multiple support ribs. The lateral deformation modules are disposed between two adjacent wing ribs and are connected to the wing ribs on both sides through the support ribs. Each lateral deformation module includes two symmetrically arranged triangular frames, a Hooke hinge, and two folding rods. The two triangular frames are fixedly connected to the wing ribs through the support ribs, and the tops of the two triangular frames are connected through the Hooke hinges. The two ends of the two folding rods are connected to the bottom sides of the two triangular frames, respectively. The wing rib includes an airfoil support frame and a reinforcing rib. The reinforcing rib is disposed on the inner side of the airfoil support frame. Both sides of the reinforcing rib are provided with connecting holes for the installation of the support rib, and are connected and fixed to the support rib through the connecting holes. The supporting ribs include two upper ribs and four lower ribs; one end of the two upper ribs is connected to the reinforcing rib, and the other end converges and connects to the upper part of the triangular frame, and a connecting rib for enhancing stability is provided between the two upper ribs; the four lower ribs are divided into two groups, located on both sides of the bottom of the triangular frame respectively, and the two lower ribs in the same group are set in the same direction, one end of the lower rib located at the near end is connected to the reinforcing rib, and the other end is connected to the bottom of the triangular frame, and one end of the lower rib located at the far end is connected to the reinforcing rib, and the other end is connected to the bottom of the triangular frame through a cylindrical rod; The triangular frame is provided with a weight-reducing groove, and a reinforcing rib is provided between the two hypotenuses. The top of the triangular frame is provided with a Hooke's hinge insertion hole, in which the Hooke's hinge can be inserted. The two ends of the folding rod are provided with folding rod insertion holes. The axis of the folding rod insertion holes is based on the crease of the Waterbomb origami unit and is consistent with the hypotenuse of the triangular frame, pointing to the intersection of the axes of the Hooke's hinge. The folding rod insertion hole cooperates with the cylindrical rod at one end of the lower rib to form a revolute joint. The two folding rods and the two sides of the triangular frame are connected to form a square pyramid mechanism. Sleeves are provided on the upper and lower sides of the folding rod insertion hole to limit the position of the folding rod.

2. The over-constrained modular deformable wing frame mechanism based on Waterbomb creases according to claim 1, characterized in that, The Hooke hinge includes four hinge rods, two hinge seats, a center block, and four pins. The center block has a cross-shaped inner hole, with two hinge rods fitted into the cross-shaped inner hole. The top two sides of the hinge seat have mounting holes, and the bottom of the hinge seat has adjustment holes perpendicular to the mounting holes. Two hinge rods are inserted into the mounting holes of the hinge seat after passing through the center block, and the remaining hinge rods are inserted into the adjustment holes. The bottom of the hinge seat is connected to the top of the triangular frame. Each hinge rod has a pin hole at one end, and the pins are inserted into the pin holes.

3. The over-constrained modular deformable wing frame mechanism based on Waterbomb creases according to claim 1, characterized in that, The folding rod is a component of the lateral deformation module that enables wingspan sweep deformation and wingspan bending deformation. It includes a synchronous hinge, a locking device, and a driving device. The synchronous hinge is used to fold or unfold to achieve deformation. The locking device is used to improve the stability of the mechanism after deformation. The driving device is used to drive the synchronous hinge to complete the corresponding folding or unfolding action.

4. The over-constrained modular deformable wing frame mechanism based on Waterbomb creases according to claim 3, characterized in that, The synchronous hinge consists of two symmetrically distributed hinges, whose axes intersect and point towards the intersection point of the Hooke hinge's axes. Two spherical hinge seats are symmetrically arranged at the upper ends of the two synchronous hinges. The two ends of the driving device are provided with spherical hinge joints that match the spherical hinge seats. The synchronous hinges and the driving device are connected through the spherical hinge seats and the spherical hinge joints.

5. The over-constrained modular deformable wing frame mechanism based on Waterbomb creases according to claim 4, characterized in that, The synchronous hinge includes a male hinge, a female hinge, two synchronous cylindrical rods, two synchronous rod connectors, two spiral springs, an adjusting bolt, and a positioning pin. The distal ends of the two synchronous cylindrical rods are provided with mounting holes for connecting to the synchronous rod connectors. The two synchronous cylindrical rods are connected to the triangular frames on both sides through the synchronous rod connectors to form a bottom quadrilateral frame. The proximal ends of the two synchronous cylindrical rods are respectively connected to the male hinge and the female hinge. The male hinge and the female hinge are rotatably connected. The locking device is located at the connection between the male hinge and the female hinge. The adjusting bolt is coaxially located on the rotation axis of the synchronous hinge, and the spiral spring is sleeved on the adjusting bolt.

6. The over-constrained modular deformable wing frame mechanism based on Waterbomb creases according to claim 5, characterized in that, The driving device also includes a motor and a push rod. The extension and retraction of the push rod is driven and controlled by the motor, and the end of the push rod is fixedly connected to the spherical hinge joint.

7. The over-constrained modular deformable wing frame mechanism based on Waterbomb creases according to claim 6, characterized in that, The locking device includes a base, a spring, a limiting pin, an eccentric shaft, a limiting groove, and a limiting switch. The base is located on one side of the female hinge in the synchronous hinge. A insertion hole is provided inside the base, and the spring is located within the insertion hole and sleeved on one end of the limiting pin. A limiting fixing shaft is provided on the other end of the limiting pin. The limiting groove is located at a corresponding position on the male hinge. Under the elastic force of the spring, the limiting fixing shaft of the limiting pin is engaged in the limiting groove and contacts the groove wall. The end of the limiting pin sleeved with the spring is detachably mounted on the base to allow for rotational movement of the limiting pin. A mounting hole is vertically provided on the female hinge. The eccentric shaft passes through the male hinge and is inserted into the mounting hole. Adjusting the eccentric shaft controls the position of its upper disc. During the movement of the synchronous hinge, the limiting switch contacts the upper disc of the eccentric shaft to limit movement and control the motor's start and stop.

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