Variable-attack-angle water-air cross-domain aircraft folding wing based on composite curve track connecting rod

Abstract

The invention discloses a variable-attack-angle water-air cross-domain aircraft folding wing based on a composite curve track connecting rod, and relates to the field of application of water-air cross-domain aircrafts. The folding wing mechanism solves the problems that an existing folding wing mechanism of the water-air cross-domain aircraft is complex in control program; the variant process is low in reliability; and the pneumatic shape is damaged. A composite track base is a cylinder component internally provided with a composite curve track, a driving module is installed in the composite track base and forms a watertight space, a wing rotating module is embedded into the cylindrical space in the front side of the composite track base and connected with an output shaft of the driving module, and the wing rotating module is hinged to the wing root of a wing. A ball pin is arranged at one end of the wing driving connecting rod and embedded into the composite curve track of the composite track base, and the other end of the wing driving connecting rod is hinged to the position, close to the wing root, of the wing. On the basis that the configuration switching requirement of the water-air cross-domain aircraft is met, the attack angle changing and recycling actions can be achieved only through one driving mechanism.

Description

Technical Field

[0001] The present invention relates to the application field of water-air cross-domain aircraft, and in particular to a folding wing of a water-air cross-domain aircraft with a variable angle of attack based on a compound curve track connecting rod. Background Art

[0002] In recent years, automation technology has developed rapidly, and unmanned aerial vehicles have played an important role in the civil and military fields. With the increasing requirements for aircraft's multi-environment adaptability, water-air cross-domain aircraft have been developed. Improving aircraft water-air cross-medium technology can effectively reduce aircraft maintenance costs and work efficiency.

[0003] However, while water-air cross-domain aircraft have advantages, they also have some technical difficulties. For example, when a fixed-wing UAV enters the water at high speed, the wing structure is not only unable to withstand the impact of the water entry process, causing structural damage, but also destroying the underwater streamline shape, causing a surge in the underwater navigation resistance of the UAV, complex flow field, and vibration when the large wingspan is sailing underwater. Therefore, it is of great significance to design a folding wing mechanism for the water-air cross-domain aircraft so that it can be unfolded in the air to provide lift and folded into the fuselage underwater.

[0004] The existing folding wing mechanism has the following problems: 1. Most of them are horizontal folding, that is, the wings are folded horizontally to the aircraft. This mechanism cannot change the wing's angle of attack. If the attitude is to be controlled, flaps need to be designed on the wings. The flaps need to be folded before folding, which increases the drive mechanism and control actions, increasing the complexity of the mechanism and the difficulty of control; in addition, the wings folded horizontally to the back or belly of the aircraft will destroy the fluid layout of the aircraft and affect the internal structure design of the aircraft. 2. Folding wings that can change the angle of attack and retract vertically to the fuselage have at least two sets of drive mechanisms to control the change of angle of attack and retraction respectively, which increases the complexity of the mechanism and the difficulty of control.

[0005] In order to solve the above problems, a variable angle of attack folding wing based on a compound curve track connecting rod is proposed for the water-air cross-domain aircraft. On the basis of meeting the configuration switching requirements of the water-air cross-domain aircraft, only one set of driving mechanism is needed to realize the variable angle of attack and recovery actions. At the same time, it is adapted to the aircraft based on modular design, which reduces the impact on the internal structure layout of the aircraft and has underwater waterproof function. Summary of the invention

[0006] The purpose of the present invention is to solve the problems of complex control procedures, low reliability of the variation process and damage to the aerodynamic shape of the existing folding wing mechanism of the water-air cross-domain aircraft, and to provide a folding wing of the water-air cross-domain aircraft with a variable angle of attack based on a compound curve track connecting rod.

[0007] The technical solution of the present invention is:

[0008] A variable angle of attack water-air cross-domain aircraft folding wing based on a composite curve track connecting rod. The aircraft folding wing includes a drive module, a composite track base 6, a wing rotation module 2, a wing drive connecting rod 3, and a wing 1. The composite track base 6 is a cylindrical member with a composite curve track 6-1 inside. The composite curve track 6-1 of the composite track base 6 is composed of an arc curve track and a spiral track that is smoothly transitioned with the arc curve track. The drive module is installed inside the composite track base 6. The wing rotation module 2 is embedded in the front cylindrical space of the composite track base 6 and is connected to the output shaft of the drive module. The wing rotation module 2 is hinged to the wing root of the wing 1. One end of the wing drive connecting rod 3 is provided with a ball head pin 3-1, and the ball head pin 3-1 is embedded in the composite curve track 6-1 of the composite track base 6. The other end of the wing drive connecting rod 3 is hinged to the wing 1 near the wing root. When the output shaft of the drive module rotates, the wing rotation module 2 controls the rotation angle of the wing 1, and the wing drive connecting rod 3 controls the swing angle of the wing 1. In the arc curve track, the wing 1 only rotates around the central axis of the composite track base 6 to switch the angle of attack; in the spiral track, the wing 1 rotates around the central axis of the composite track base 6 while swinging along the hinged position between the wing rotation module 2 and the wing root of the wing 1, and finally folds and fits against the side of the aircraft body of the aircraft.

[0009] Further, the drive module includes a stepper motor 4 and a cylindrical output shaft 5. The stepper motor 4 is installed inside the composite track base 6. One end of the cylindrical output shaft 5 is fitted with the rudder arm of the stepper motor 4, and the other end of the cylindrical output shaft 5 is connected to the wing rotation module 2.

[0010] Further, the wing rotation module 2 is a cylindrical cover-shaped structure provided with a hinge. A wing rotation module connection hinge is provided at the wing root of the wing 1. The hinge of the wing rotation module 2 is connected to the wing rotation module connection hinge through a shaft pin.

[0011] Further, a connecting rod connection structure is provided near the wing root of the wing 1. The connecting rod connection structure is an axial structure. The other end of the wing drive connecting rod 3 is provided with an axial sleeve 3-2. The axial sleeve 3-2 of the wing drive connecting rod 3 is hinged to the connecting rod connection structure of the wing 1.

[0012] Further, the central angle of the arc curve track in the composite curve track 6-1 of the composite track base 6 is 115°, and the center of the arc curve track coincides with the central axis of the composite track base 6.

[0013] Further, when the ball head pin 3-1 at one end of the wing drive link 3 moves in the arc curve track of the compound curve track 6-1, the wing 1 only rotates around the central axis of the compound track base 6 under the cooperation of the wing drive link 3 and the wing rotation module 2, realizing the change of the angle of attack; when the included angle between the projection of the wing drive link 3 and the plumb axis is 0°, the angle of attack of the wing is 0°. From the wing tip to the wing root, when the wing rotates counterclockwise, the angle of attack decreases, with a minimum of -45°, and when the wing rotates clockwise, the angle of attack increases, with a maximum of +70°.

[0014] Further, when the ball head pin 3-1 at one end of the wing drive link 3 moves in the spiral track of the compound curve track 6-1, the wing 1 rotates around the central axis of the compound track base 6 and swings along the hinge of the wing rotation module 2 under the cooperation of the wing drive link 3 and the wing rotation module 2; after the wing 1 rotates 45° around the central axis of the compound track base 6, the wing 1 swings 90° along the hinge of the wing rotation module 2, realizing the fitting on the outer side of the rotation of the wing 1.

[0015] Further, the wing drive link 3 is a metal wing drive link.

[0016] Further, the bottom of the compound curve track 6-1 on the compound track base 6 is in sliding fit with the ball head pin 3-1. The top side wall of the compound curve track 6-1 is provided with a converging structure that converges inward, and the converging width is smaller than the diameter of the ball head pin 3-1. The diameter of the middle rod section of the wing drive link 3 is smaller than the converging width; two angle limiting structures are respectively provided at both ends of the compound curve track 6-1. The two angle limiting structures are respectively the limit starting point 6-2 and the limit ending point 6-3. Both the limit starting point 6-2 and the limit ending point 6-3 are inclined plane structures provided on the side of the compound curve track 6-1.

[0017] Further, a motor installation space is opened on the front side of the compound track base 6. The stepping motor 4 is embedded inside the motor installation space to form a watertight space. There is a clearance fit between the outer side surface of the stepping motor 4 and the compound track base 6. A connecting flange is provided on the front side of the stepping motor 4, and the connecting flange is fixedly connected to the compound track base 6 through a plurality of screws.

[0018] The present invention has the following effects compared with the prior art:

[0019] 1. The folding wing of the variable angle of attack water-air cross-domain aircraft based on the composite curve track link designed by the present invention follows the modular design principle, and can be separately used as a flight power module for mechanical and electrical connection with the aircraft body. Each is responsible for the functions of deploying, retracting and changing the angle of attack of the left and right wings, and has the characteristics of repeatability, controllability and high safety. Using this mechanism, the water-air cross-domain aircraft can meet the lift and aircraft degree of freedom requirements during air cruising; meet the requirements of low resistance and streamlined shape during underwater navigation. It effectively overcomes the impact and damage to some structures when the special-shaped aircraft enters the water and the influence on the water entry trajectory, and overall improves the working ability and maneuverability of the water-air cross-domain aircraft. At the same time, the present invention is based on the principle of motion combination, has good maturity and simplicity of manufacturing process. At the same time, the cooperation between the stepper motor and the wing drive link makes the present invention have strong locking ability and alleviates the tremor of the wing caused by the change of the flow field.

[0020] 2. The switching of the wing designed by the present invention from the unfolded state to the side-fitting state and the change of the wing angle of attack during cruising are only completed by the drive of a single stepper motor, which effectively reduces the control complexity; at the same time, due to the single drive, it also provides the feasibility for realizing the maneuvering switching state. On the other hand, because the control is simple and effective, it saves space. When applied to the water-air cross-domain aircraft, it can reduce the payload and save space for arranging other functional components.

[0021] 3. The wing retraction method of the present invention belongs to the method of side-fitting the fuselage. This method can ensure that the wing is placed in the middle of the fuselage without setting a cavity to store the wing, avoiding the formation of turbulent vortices in the cavity during high-speed cruising and improving the aerodynamic performance of the whole aircraft. At the same time, the side-fitting retraction process will not form a special high-vibration motion interval, which contributes to the sailing stability.

[0022] 4. The present invention forms a watertight space inside the composite track base, without the need to consider waterproofing additionally, increasing the simplicity and universality of the use of the present invention.

[0023] 5. The folding wing of the variable angle of attack water-air cross-domain aircraft based on the composite curve track link designed by the present invention meets the configuration requirements of the water-air cross-domain aircraft in two media. It can also be applied to fields such as attitude fine-tuning and deceleration of the aircraft before entering the water, and the aircraft returning to the correct position at a large angle of attack, laying a foundation for the design work of future water-air cross-domain aircraft.

[0024] 6. The present invention improves the performance, quality, accuracy and efficiency of the folding wing of the water-air cross-domain aircraft; saves energy consumption, raw materials and processes; is simple in processing, operation, control and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of the folding wing of the variable angle of attack water-air cross-domain aircraft based on the composite curve track link of the present invention;

[0026] Figure 2 It is a schematic diagram of the fully switched angle of attack state of the folding wing of the present invention;

[0027] Figure 3 It is a schematic diagram of the fully retracted state of the folding wing of the present invention;

[0028] Figure 4 It is a schematic diagram of the control module of the present invention;

[0029] Figure 5 It is a schematic diagram of the assembly of the wing, control module and wing drive link of the present invention;

[0030] Figure 6 It is a geometric schematic diagram of the compound curve track of the fixed base of the present invention;

[0031] Figure 7 It is a schematic diagram of the ball head pin of the link embedded in the compound curve track of the fixed base of the present invention;

[0032] Figure 8 It is the present invention

[0033] Figure 9 It is an axonometric view of the wing drive link of the present invention;

[0034] Figure 10 It is a schematic diagram of the angle limit structure and link support structure of the compound curve track of the compound track base of the present invention.

[0035] In the figure: 1, wing; 2, wing rotation module; 3, wing drive link; 4, stepper motor; 5, cylindrical output shaft; 6, compound track base; 3-1, ball head pin; 3-2, shaft sleeve; 6-1, compound curve track; 6-2, limit starting point; 6-3, limit ending point. Detailed implementation manners

[0036] Detailed implementation manner one: In combination with Figures 1 to 10The present embodiment is described. The present embodiment is a variable angle of attack water-air cross-domain aircraft folding wing based on a compound curve track connecting rod. The aircraft folding wing includes a drive module, a compound track base 6, a wing rotation module 2, a wing drive connecting rod 3 and a wing 1. The compound track base 6 is a cylindrical component with a compound curve track 6-1 arranged inside. The compound curve track 6-1 of the compound track base 6 is composed of a section of circular arc track and a section of spiral track that smoothly transitions with the circular arc track. The drive module is installed inside the compound track base 6. The wing rotation module 2 is embedded in the cylindrical space on the front side of the compound track base 6 and is connected to the output shaft of the drive module. It is hinged to the root of the wing 1, and a ball pin 3-1 is set at one end of the wing driving link 3, and the ball pin 3-1 is embedded in the composite curved track 6-1 of the composite track base 6. The other end of the wing driving link 3 is hinged to the wing 1 near the wing root. When the output shaft of the driving module rotates, the wing rotation module 2 controls the rotation angle of the wing 1, and the wing driving link 3 controls the swing angle of the wing 1. In the circular arc curved track, the wing 1 only rotates around the central axis of the composite track base 6 to switch the angle of attack; in the spiral track, the wing 1 rotates around the central axis of the composite track base 6 while swinging along the hinged position at the wing root of the wing 1, and finally achieves folding and fitting to the side of the fuselage of the aircraft body.

[0037] In this embodiment, the wing 1 cooperates with the wing rotation module 2 and the wing driving link 3 to switch between the two states of unfolding and folding. When unfolding, the angle of attack can be rotated to change, so that the aircraft can switch between unfolding and folding the wing 1 according to different working states and improve the flight capability by adjusting the angle of attack. It can be concluded from the above description of the movement principle that the movement posture of the wing 1 is controllable, stable and coherent.

[0038] Specific implementation method 2: Combination Figures 1 to 10 This embodiment is described. The driving module of this embodiment includes a stepper motor 4 and a cylindrical output shaft 5. The stepper motor 4 is installed inside the composite track base 6. One end of the cylindrical output shaft 5 is engaged with the rudder arm of the stepper motor 4, and the other end of the cylindrical output shaft 5 is connected to the wing rotation module 2. In this way, the cylindrical output shaft 5 is engaged with the rudder arm of the stepper motor 4 to achieve the function of output torque. The locking function after the stepper motor 4 is started is used to lock the angle of the wing rotation module 2, and further lock the posture and position of the wing 1. Other components and connection relationships are the same as those of the first specific embodiment.

[0039] In this embodiment, the wing rotation module 2 is inserted into the cylindrical space of the composite track base 6 and is engaged with the rudder arm of the stepper motor 4 through the reserved rudder arm slot (a slot with the same geometric shape as the rudder arm but slightly larger in size) thereon, and is further fixedly connected to the cylindrical output shaft 5 to achieve the effect of transmitting the torque meter. The wing rotation module 2 is fixedly connected to the cylindrical output shaft 5 by screws.

[0040] Embodiment 3: Figures 1 to 10 In this embodiment, the wing rotation module 2 is a cylindrical cover structure provided with hinges. A wing rotation module connection hinge is provided at the wing root of the wing 1, and the hinge of the wing rotation module 2 is connected to the wing rotation module connection hinge through a shaft pin. With this arrangement, the hinge of the wing rotation module 2 can cooperate with the wing rotation module connection hinge at the wing root of the wing 1 to restrict the wing 1. Specifically, the wing rotation module connection hinge at the wing root of the wing 1 and the wing rotation module connection hinge are connected through a shaft pin to restrict the swinging movement of the connection hinge between the wing 1 and the wing rotation module. Other components and connection relationships are the same as those in Embodiment 1 or 2.

[0041] Embodiment 4: Figures 1 to 10 In this embodiment, a connecting rod connection structure is provided near the wing root of the wing 1. The connecting rod connection structure is an axial structure. A shaft-type sleeve 3-2 is provided at the other end of the wing driving connecting rod 3. The shaft-type sleeve 3-2 of the wing driving connecting rod 3 is hinged to the connecting rod connection structure of the wing 1. With this arrangement, the wing driving connecting rod 3 is a wing driving connecting rod with special configurations at both ends. One end of the wing driving connecting rod 3 is a ball head pin 3-1, which can be embedded in the composite curve track 6-1 of the composite track base 6. The shaft-type sleeve 3-2 at the other end of the wing driving connecting rod 3 is connected to the connecting rod connection structure (axial structure) near the wing root, performing the function of controlling the rotation and swinging angles of the wing 1. Other components and connection relationships are the same as those in Embodiment 1, 2 or 3.

[0042] Embodiment 5: Figures 1 to 10 In this embodiment, the central angle of the arc curve track in the composite curve track 6-1 of the composite track base 6 is 115°, and the center of the arc curve track coincides with the central axis of the composite track base 6. Other components and connection relationships are the same as those in Embodiment 1, 2, 3 or 4.

[0043] In this embodiment, a ball head pin 3-1 tangent to the composite curve track 6-1 can be embedded in the composite curve track 6-1, and the ball head pin 3-1 is part of the wing driving connecting rod 3.

[0044] Embodiment 6: Figures 1 to 10Describing this embodiment, in this embodiment, when the ball head pin 3-1 at one end of the wing drive link 3 moves in the arc curve track of the composite curve track 6-1, the wing 1 only rotates around the central axis of the composite track base 6 under the cooperation of the wing drive link 3 and the wing rotation module 2, realizing the change of the angle of attack; it is designed that when the included angle between the projection of the wing drive link 3 and the plumb axis is 0°, the angle of attack of the wing is 0°. From the wing tip to the wing root, rotating counterclockwise reduces the angle of attack of the wing, with a minimum of -45°, and rotating clockwise increases the angle of attack of the wing, with a maximum of +70°. With such a setting, in this working mode, the change of the angle of attack of the wing is mainly realized, which is used to adjust the angle of attack of the wing to change the lift during the air flight stage of the water-air cross-domain aircraft or to adjust the roll angle and yaw angle of the fuselage by using the angle of attack difference between the two wings. The other components and connection relationships are the same as those in the first, second, third, fourth, or fifth specific embodiments.

[0045] Specific Embodiment Seven: Combining Figures 1 to 10 Describing this embodiment, in this embodiment, when the ball head pin 3-1 at one end of the wing drive link 3 moves in the spiral track of the composite curve track 6-1, the wing 1 rotates around the central axis of the composite track base 6 and swings along the hinge of the wing rotation module 2 under the cooperation of the wing drive link 3 and the wing rotation module 2; it is designed that after the wing 1 rotates 45° around the central axis of the composite track base 6, the wing 1 swings 90° along the hinge of the wing rotation module 2 to achieve fitting on the outer side of the rotation of the wing 1. With such a setting, it is specifically applied to the water-air cross-domain aircraft to realize that the wing 1 fits on both sides of the fuselage, forming a streamlined shape to reduce the impact on water entry and the influence on the ballistic trajectory. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, or sixth specific embodiments.

[0046] Specific Embodiment Eight: Combining Figures 1 to 10 Describing this embodiment, the wing drive link 3 in this embodiment is a metal wing drive link. With such a setting, the wing drive link 3 is made of high-strength metal. The high-strength metal material ensures that it can bear and transmit the driving pressure, and at the same time, high-precision engraving processing is used to ensure the tight fitting of the ball head pin 3-1 and the composite curve track 6-1 to make the movement smooth. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, or seventh specific embodiments.

[0047] Specific Embodiment Nine: Combining Figures 1 to 10Describing this embodiment, the bottom of the composite curve track 6-1 on the composite track base 6 of this embodiment is in sliding fit with the ball head pin 3-1. The top side wall of the composite curve track 6-1 is provided with a converging structure that converges inward. The converging width is smaller than the diameter of the ball head pin 3-1. The diameter of the middle rod section of the wing drive link 3 is smaller than the converging width. Two angle limiting structures are respectively provided at both ends of the composite curve track 6-1. The two angle limiting structures are respectively the limiting starting point 6-2 and the limiting ending point 6-3. Both the limiting starting point 6-2 and the limiting ending point 6-3 are inclined plane structures provided on the side of the composite curve track 6-1. With such a setting, the angle limiting structure and the link support structure are arranged in the composite track base 6 through processes such as hollowing out and cutting, and the movement trajectory of the wing drive link 3 is restricted, ensuring the smooth transmission of the driving pressure between the wing rotation module 2 and the wing drive link 3. The converging structure is used to limit the ball head pin 3-1 to prevent the ball head pin 3-1 from disengaging from the composite curve track 6-1. The angle limiting structure is used to limit the rotation angle to prevent excessive rotation so as to avoid structural damage. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, or eighth specific embodiments.

[0048] Specific embodiment ten: Combining Figures 1 to 10 Describing this embodiment, a motor installation space is opened on the front side of the composite track base 6 of this embodiment. The stepper motor 4 is embedded inside the motor installation space to form a watertight space. There is a clearance fit between the outer side surface of the stepper motor 4 and the composite track base 6. A connecting flange is provided on the front side of the stepper motor 4. The connecting flange is fixedly connected to the composite track base 6 through a plurality of screws. With such a setting, when the stepper motor 4 in the drive module is assembled on the composite track base 6, a sealing structure is formed. The sealing structure forms a waterproof space inside the composite track base 6. This part is connected to the inside of the fuselage during application to ensure the use safety of the internal electrical components and avoid the change of gravity caused by water ingress. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth, or ninth specific embodiments.

[0049] In this embodiment, in order to improve the sealing performance, an annular groove can be opened along the circumferential direction on the inner side surface of the motor installation space of the composite track base 6, and a rubber sealing ring is pre-installed inside the annular groove to achieve the sealing fit between the stepper motor 4 and the composite track base 6.

[0050] Embodiment 1

[0051] The present invention provides an implementation scheme of a variable angle of attack water-air cross-domain aircraft folding wing based on a composite curve track link, and the steps are as follows:

[0052] Due to the cooperation between the composite curve track 6-1 and the wing rotation module 2, the driving of the present invention can be achieved only by the rotation angle of the stepper motor 4.

[0053] 1) From stowed to deployed: The control module receives an instruction to start the stepper motor 4, which drives the wing rotation module 2 to rotate clockwise at a high speed by 90°. At this time, the wing 1 moves from the stowed limit position to the 0° angle of attack position, quickly reaching the cruise state, and realizing a state switch within a short time to provide a large lift force for the aircraft.

[0054] 2) From deployed to stowed: The control module receives an instruction to start the stepper motor 4, which drives the wing rotation module 2 to rotate counterclockwise at a high speed. In actual applications, the wing 1 often is not in the 0° angle of attack position. At this time, it continues to drive until the wing drive link 3 reaches the limit position. At this time, the wing 1 switches from the deployed state to the state of fitting on both sides of the fuselage, realizing a state switch within a short time to make the whole aircraft form a cylindrical fluid shell, preparing for the air-to-water cross-domain.

[0055] 3) The composite curve track 6-1 of this design is designed to continuously change the wing angle of attack from +70° to -45°, and the wing 1 retraction action is realized from -45° to -90°. The required angle can be selected according to the actual situation.

[0056] Working principle

[0057] Combined with Figures 1 to 10 The working principle of a variable angle of attack air-to-water cross-domain aircraft folding wing based on a composite curve track connecting rod of the present invention is described as follows:

[0058] When the wing 1 in the fully deployed state (such as Figure 2 ) receives an instruction to change the angle of attack, the stepper motor 4 rotates, causing the wing drive link 3 to move on the circular arc curve track to drive the wing 1 to rotate; due to the limitation of the circular arc curve track and the wing drive link 3, the folding wing can rotate and switch the angle of attack without swinging.

[0059] When the wing 1 in the fully deployed state (such as Figure 2 ) receives a folding instruction, the stepper motor 4 rotates, causing the wing drive link 3 to move on the spiral track to drive the wing 1 to rotate and swing at the hinge connecting the wing rotation module at the same time. On the spiral track, after rotating 45° along the central axis of the composite track base 6, it swings 90° at the hinge connecting the wing rotation module to achieve the effect of fitting and retracting on the side of the fuselage (such as Figure 3 ).

[0060] During the whole working process, it should be noted that with the wing 1 and the horizontal plane angle as 0° as the reference, the change range of the wing angle of attack is +75° to -45°, and the rotation angle of the wing 1 during the lateral retraction process is 45°. Although the circular arc curve track is continuous, try to avoid the stepper motor 4 rotation angle exceeding the working range during operation to cause plastic deformation and other damages to the structure due to extrusion.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A folding wing of a variable angle of attack water-air cross-domain aircraft based on a compound curve track connecting rod, characterized in that: The aircraft folding wing comprises a driving module, a composite track base (6), a wing rotation module (2), a wing driving connecting rod (3) and a wing (1); the composite track base (6) is a cylindrical component with a composite curved track (6-1) arranged inside; the composite curved track (6-1) of the composite track base (6) is composed of a section of circular curved track and a section of spiral track that smoothly transitions with the circular curved track; the driving module is installed inside the composite track base (6); the wing rotation module (2) is embedded in the cylindrical space on the front side of the composite track base (6) and is connected to the output shaft of the driving module; the wing rotation module (2) is hinged to the root of the wing (1); a ball bearing is arranged at one end of the wing driving connecting rod (3); A head pin (3-1) is embedded in a composite curved track (6-1) of a composite track base (6); the other end of a wing drive link (3) is hinged to a wing (1) near a wing root; when an output shaft of the drive module rotates, the wing rotation module (2) controls the rotation angle of the wing (1); the wing drive link (3) controls the swing angle of the wing (1); in the circular curved track, the wing (1) only rotates around the central axis of the composite track base (6) to switch the angle of attack; in the spiral track, the wing (1) rotates around the central axis of the composite track base (6) while swinging along a hinged position between the wing rotation module (2) and the wing (1) at the wing root, and finally achieves folding and fitting to the side of the fuselage of the aircraft body.

2. The variable angle of attack water-air cross-domain aircraft folding wing based on compound curve track connecting rod according to claim 1 is characterized by: The driving module comprises a stepping motor (4) and a cylindrical output shaft (5), wherein the stepping motor (4) is installed inside a composite track base (6), one end of the cylindrical output shaft (5) is engaged with a rudder arm of the stepping motor (4), and the other end of the cylindrical output shaft (5) is connected to a wing rotation module (2).

3. A folding wing of a variable angle of attack water-air cross-domain aircraft based on a compound curve track connecting rod according to claim 1 or 2, characterized in that: The wing rotation module (2) is a cylindrical cover-shaped structure provided with a hinge. A wing rotation module connecting hinge is provided at the wing root of the wing (1). The hinge of the wing rotation module (2) is connected to the wing rotation module connecting hinge via an axle pin.

4. The variable angle of attack water-air cross-domain aircraft folding wing based on compound curve track connecting rod according to claim 3 is characterized by: A connecting rod connection structure is arranged near the wing root of the wing (1), wherein the connecting rod connection structure is an axis-shaped structure, and an axis-shaped sleeve (3-2) is arranged at the other end of the wing driving connecting rod (3), and the axis-shaped sleeve (3-2) of the wing driving connecting rod (3) is hinged to the connecting rod connection structure of the wing (1).

5. The variable angle of attack water-air cross-domain aircraft folding wing based on compound curve track connecting rod according to claim 4 is characterized by: The center angle of the circular arc curve track in the composite curve track (6-1) of the composite track base (6) is 115°, and the center of the circular arc curve track coincides with the central axis of the composite track base (6).

6. The variable angle of attack water-air cross-domain aircraft folding wing based on compound curve track connecting rod according to claim 5, characterized in that: When the ball pin (3-1) at one end of the wing driving link (3) moves in the circular arc track of the compound curved track (6-1), the wing (1) only rotates around the central axis of the compound track base (6) under the cooperation of the wing driving link (3) and the wing rotating module (2), thereby realizing the change of the angle of attack; when the angle between the projection of the wing driving link (3) and the plumb axis is 0°, the wing angle of attack is 0°, and from the wing tip to the wing root, the wing angle of attack decreases when rotating counterclockwise, with a minimum of -45°, and increases when rotating clockwise, with a maximum of +70°.

7. The variable angle of attack water-air cross-domain aircraft folding wing based on compound curve track connecting rod according to claim 5, characterized in that: When the ball pin (3-1) at one end of the wing driving link (3) moves in the spiral track of the compound curved track (6-1), the wing (1) rotates around the central axis of the compound track base (6) and swings along the hinge of the wing rotating module (2) under the cooperation of the wing driving link (3) and the wing rotating module (2); after the wing (1) rotates 45° along the central axis of the compound track base (6), the wing (1) swings 90° along the hinge of the wing rotating module (2) to achieve adhesion to the rotating outer side of the wing (1).

8. A folding wing of a variable angle of attack water-air cross-domain aircraft based on a compound curve track connecting rod according to claim 1, 4, 6 or 7, characterized in that: The wing driving connecting rod (3) is a metal wing driving connecting rod.

9. The variable angle of attack water-air cross-domain aircraft folding wing based on compound curve track connecting rod according to claim 8, characterized in that: The bottom of the composite curved track (6-1) on the composite track base (6) is slidably matched with the ball pin (3-1), and the top side wall of the composite curved track (6-1) is provided with a closing structure that is retracted inwards, the closing width is smaller than the diameter of the ball pin (3-1), and the diameter of the middle rod section of the wing drive connecting rod (3) is smaller than the closing width; two angle limiting structures are respectively provided at both ends of the composite curved track (6-1), and the two angle limiting structures are respectively a limiting starting point (6-2) and a limiting end point (6-3), and both the limiting starting point (6-2) and the limiting end point (6-3) are inclined structures set on the side of the composite curved track (6-1).

10. The variable angle of attack water-air cross-domain aircraft folding wing based on compound curve track connecting rod according to claim 9, characterized in that: A motor installation space is provided on the front side of the composite track base (6), and the stepper motor (4) is embedded in the motor installation space to form a watertight space. A clearance fit is provided between the outer side surface of the stepper motor (4) and the composite track base (6). A connecting flange is provided on the front side of the stepper motor (4), and the connecting flange is fixedly connected to the composite track base (6) by a plurality of screws.

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