Trigger type folding-stretching linkage wing structure for seaplane

Abstract

The invention provides a trigger type folding-stretching linkage wing structure for a seaplane. The trigger type folding-stretching linkage wing structure comprises a wing assembly, a driving assembly, a linkage assembly and a limiting assembly. The wing assembly comprises a wing seat, two wing groups and two guide units, the wing groups can stretch out and draw back, the two ends of each wing group are connected with an inner connecting plate and an outer connecting plate correspondingly, and the inner connecting plates are rotationally installed on the wing seat; the guide unit comprises a telescopic rod and a reset spring, the two ends of the telescopic rod are connected with the inner connecting plate and the outer connecting plate correspondingly, and the telescopic rod is sleeved with the reset spring. The driving assembly comprises a first sliding block and a connecting rod; two ends of the connecting rod are respectively hinged with the first slide block and one end of the wing group close to the wing seat; the linkage assembly comprises a traction rope and a pulley block; the limiting assembly comprises a first limiting unit and a second limiting unit. The first sliding block moves in the direction away from the wing base, sweepback and contraction of the wing set are synchronously achieved, the cross sectional area and the wetted area of the wing can be reduced at the same time during underwater navigation, and fluid resistance is remarkably reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of seaplanes, in particular to a trigger-type folding-retractable linkage wing structure for seaplanes. Background Art

[0002] Seaplanes are a type of cross-medium vehicle. As a new type of unmanned system that can autonomously switch motion modes between air and water, they have important application value in the fields of ocean monitoring, military reconnaissance, emergency search and rescue, etc. The core technical difficulty lies in how to balance aerodynamic and hydrodynamic performance. When flying in the air, the wings need to provide sufficient lift to support efficient flight, while when sailing underwater, excessive exposed wing area will significantly increase fluid resistance, resulting in increased energy consumption and reduced endurance. This contradiction places extremely high demands on the morphologically variable design of the wing: it must have a sufficient aerodynamic aspect ratio in the flight mode, and it must minimize the underwater resistance characteristics in the diving mode.

[0003] In the existing technology, swept-wing folding designs are widely used in cross-medium vehicles to reduce underwater resistance. However, they only reduce the underwater cross-sectional area by adjusting the wing sweep angle or a simple folding mechanism. When the vehicle dives into the water, the axial length and width of the traditional swept-wing remain fixed, and the contact area between the wing surface and the water flow remains at a high level. The resulting resistance seriously affects the underwater propulsion efficiency and cannot effectively solve the problem of excessive wetted area caused by the contact between the wing surface and the water medium. Summary of the Invention

[0004] In view of this, the present invention proposes a trigger-type folding-retractable linkage wing structure for seaplanes to solve the technical problem proposed in the above-mentioned background technology that the underwater cross-sectional area is reduced by adjusting the wing sweep angle or a simple folding mechanism, the axial length and width of the wing remain fixed, and the contact area between the wing surface and the water flow is still maintained at a high level, and the resulting resistance seriously affects the underwater propulsion efficiency.

[0005] The technical solution of the present invention is achieved as follows: The present invention provides a trigger-type folding-retracting linkage wing structure for a seaplane, comprising a wing assembly, a drive assembly, a linkage assembly, and a limit assembly, wherein: The wing assembly includes a wing seat, two wing groups, and two guide units. The wing seat is used to connect to the fuselage of the seaplane. The two wing groups are symmetrically mounted at the two ends of the wing seat in the length direction. The wing groups are telescopic and connected to an inner connecting plate and an outer connecting plate at both ends. The inner connecting plate is rotatably mounted on the wing seat. The guide unit includes a telescopic rod and a return spring. The two ends of the telescopic rod are respectively connected to the inner connecting plate and the outer connecting plate. The return spring is sleeved on the telescopic rod. The two ends of the return spring respectively contact and are limited to the inner connecting plate and the outer connecting plate. The driving assembly includes a first slider and a connecting rod; the first slider is capable of moving in a direction perpendicular to the length direction of the wing seat; the two ends of the connecting rod are respectively hinged to the first slider and an end of the wing assembly close to the wing seat; The linkage assembly includes a traction rope and a pulley assembly, wherein the traction rope is respectively connected to the first slider and the outer connecting plate, and is tensioned and mounted on the pulley assembly; The limiting assembly includes a first limiting unit and a second limiting unit. The first limiting unit is used to limit the first slider when the wing group is retracted and folded into place, and the second limiting unit is used to limit the first slider when the wing group is extended and unfolded into place.

[0006] Based on the above technical solution, preferably, the wing group also includes a rotating wing and at least one telescopic wing, the inner connecting plate is rotatably mounted on the wing seat and fixedly connected to the rotating wing, at least one telescopic wing is slidably mounted in the rotating wing, and the outer connecting plate is connected to the outer end face of the innermost telescopic wing.

[0007] On the basis of the above technical solution, preferably, the drive assembly also includes a slider seat, a driving member, a screw rod and a guide rod, the slider seat is connected to the wing seat, and the length direction of the slider seat is perpendicular to the length direction of the wing seat; the driving member is installed on the slider seat; the screw rod is rotatably installed on the slider seat and connected to the driving member, and a first threaded hole and a first guide hole are provided on the first slider, the first threaded hole is threadedly connected to the screw rod, and the length direction of the screw rod is parallel to the length direction of the slider seat; the guide rod is fixedly installed on the slider seat and parallel to the screw rod, and the guide rod passes through the first guide hole.

[0008] On the basis of the above technical solution, preferably, the first limiting unit includes a first limiter, a first spring and a first releasing member, the middle part of the first limiter is rotatably installed on the slider seat, and the first limiter is provided with a first locking hook at the end away from the wing seat, the cross-section of the first locking hook is triangular, and the first locking hook is provided with a first limiting surface adjacent to the end face and the top face of the first limiter; a first locking groove is provided on the side of the first slider close to the first limiter, and when the wing group is swept back into position, the first locking groove engages with the first locking hook and the first locking groove contacts the first limiting surface; the first spring is compressed and installed between the slider seat and the first limiter; the first releasing member is used to drive the first limiting member to rotate to release the engagement of the first locking hook with the first locking groove.

[0009] On the basis of the above technical solution, preferably, the second limiting unit includes a second limiter and a second spring, one end of the second limiter is rotatably mounted on the slider seat, and the other end is provided with a second locking hook, and the cross-section of the second locking hook is triangular; the side of the first slider close to the first limiter is also provided with a second locking groove, and when the wing group is unfolded into place, the surface where the hypotenuse of the triangle of the second locking hook is located contacts the second locking groove.

[0010] On the basis of the above technical solution, preferably, the first release member includes a first electromagnet and a first armature, the first electromagnet is installed on the slider seat, the first armature is installed in the first limiter and is located below the first lock hook, and when the first electromagnet is energized, the magnetic attraction force on the first armature is greater than the elastic force of the first spring.

[0011] On the basis of the above technical solution, preferably, the first release member includes a second slider and a decoupling structure, the second slider is provided with a second threaded hole, a second guide hole and a sliding column, the second threaded hole is threadedly connected to the screw rod, the guide rod passes through the second guide hole, and the sliding column is arranged perpendicular to the first guide hole; the decoupling structure is arranged at the end of the first limiter away from the first locking hook, and the decoupling structure is an inclined guide groove, the end of the guide groove close to the wing seat is lower than the end away from the wing seat, and the sliding column is slidably installed in the guide groove, so that in the process of the second slider sliding close to the wing seat, the first limiter is driven to rotate around the slider seat so that the first locking hook descends and disengages from the first locking groove.

[0012] On the basis of the above technical solution, preferably, a release block is further provided on the second limiter, and the cross-section of the release block is a trapezoid with a small upper part and a large lower part. In the process of the second slider sliding away from the wing seat, the second slider contacts the waist surface of the release block, thereby causing the second limiter to rotate around the slider seat to release the limit on the second slider.

[0013] Based on the above technical solution, preferably, the rotating wing and the telescopic wing are nested sleeves with a tapered trapezoidal cross-section, and a first stop is provided on the inner wall of the rotating wing at one end away from the inner connecting plate; a second stop is provided on the outer wall of the telescopic wing at one end close to the inner connecting plate, and the second stop is used to abut against the first stop; a third stop is provided on the inner wall of the telescopic wing at one end close to the inner connecting plate, and the third stop is used to abut against the second stop of the adjacent inner layer of the telescopic wing.

[0014] On the basis of the above technical solution, preferably, the pulley group includes a first fixed pulley, a second fixed pulley and a movable pulley, the first fixed pulley is installed at the middle part of the wing seat, the second fixed pulley is installed at one end of the wing seat close to the wing group, the movable pulley is rotatably installed on the first slider, one end of the traction rope is connected to one end of the wing seat close to the slider seat with adjustable tension, and passes through the movable pulley, the first fixed pulley and the second fixed pulley in sequence, and the other end of the traction rope is connected to the outer connecting plate.

[0015] The trigger-type folding-retractable linkage wing structure for seaplanes of the present invention has the following beneficial effects compared with the prior art: (1) Before entering the water, the first slider moves in the direction away from the wing seat, and the inner connecting plate is driven by the connecting rod to rotate around the wing seat to realize the back sweep of the wing group. The traction rope pulls the outer connecting plate to move in the direction close to the inner connecting plate to realize the contraction of the wing group. The telescopic rod contracts and the return spring is compressed to accumulate elastic return force. When emerging from the water, the elastic return force drives the outer connecting plate to move in the direction away from the inner connecting plate to realize the extension of the wing group. The traction rope drives the first slider to move in the direction close to the wing seat, and the first connecting rod drives the inner connecting plate to rotate around the wing seat to realize the deployment of the wing group. When sailing underwater, the wing cross-sectional area and the wetted area can be reduced at the same time, significantly reducing the fluid resistance. After emerging from the water, only a small amount of energy is required to trigger, and the wing group can be quickly extended and deployed by relying on the pre-stored elastic return force, thus entering the aerodynamic shape of the aerial vehicle. (2) The screw is driven to rotate by the driving member, and the screw thread drives the first slider. Due to the limitation of the first guide rod, the first slider cannot rotate, so that the first slider moves linearly along the length direction of the screw, and drives the rotary wing to rotate around the wing seat through the connecting rod, thereby completing the sweep and deployment of the wing group; (3) A first locking hook is provided at one end of the first limiter away from the wing seat, the cross section of the first locking hook is triangular, the first locking hook is provided with a first limiting surface adjacent to both the end surface and the top surface of the first limiter, and a first locking groove is provided on the side of the first slider close to the first limiter. When the wing group is swept back to the full position, the first locking groove engages with the first locking hook and the first locking groove contacts the first limiting surface, thereby limiting the first slider and preventing the first slider from retreating, so that the wing group maintains this state after being swept back to the full position, thereby ensuring stability and reliability during underwater navigation; (4) One end of the second limiter is rotatably mounted on the slider seat, and the other end is provided with a second locking hook, the cross section of the second locking hook is triangular, and the side of the first slider close to the first limiter is also provided with a second locking groove. When the wing group is deployed in place, the surface where the hypotenuse of the triangle of the second locking hook is located abuts against the second locking groove, thereby preventing the wing group from continuously applying a rotational force to the rotary wing after it is deployed in place, thereby causing damage to the rotary wing, thereby improving the reliability of the device; (5) The first electromagnet is mounted on the slider seat, the first armature is mounted in the first limiter and is located below the first lock hook. When the first electromagnet is energized, the magnetic attraction force on the first armature is greater than the elastic force of the first spring, so that the first limiter rotates around the slider seat, causing the first lock hook to descend and disengage from the first lock groove, thereby releasing the limit on the first slider; (6) A second threaded hole, a second guide hole and a sliding column are provided on the second slider, and the sliding column is arranged perpendicular to the first guide hole; the unhooking structure is arranged at the end of the first limiter away from the first locking hook, and the unhooking structure is an inclined guide groove, and the end of the guide groove close to the wing seat is lower than the end away from the wing seat, and the sliding column is slidably installed in the guide groove, so that when the screw drives the second slider to slide close to the wing seat, the first limiter is driven to rotate around the slider seat so that the first locking hook descends and disengages from the first locking groove, thereby releasing the limit on the first slider. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 Schematic diagram of the structure of a trigger-type folding-retractable linkage wing structure (in the unfolded and extended state) for a seaplane according to an embodiment of the present invention; Figure 2 Schematic diagram of the structure of a trigger-type folding-retractable linkage wing structure (in a folded and retracted state) for a seaplane according to an embodiment of the present invention; Figure 3 Schematic diagram of the structure of the wing assembly in an embodiment of the present invention; Figure 4 Schematic diagram of the structure of the guide unit in an embodiment of the present invention; Figure 5 is a cross-sectional view of a driving assembly and a limiting assembly in an embodiment of the present invention; Figure 6 is a three-dimensional diagram of a driving assembly and a limiting assembly in an embodiment of the present invention; Figure 7 An exploded view of a wing seat in an embodiment of the present invention; Figure 8 is a partial schematic diagram of a wing seat in an embodiment of the present invention; Figure 9 Schematic diagram of the structure of the pulley assembly in an embodiment of the present invention.

[0018] Description of reference numerals: 1-wing assembly, 2-driving assembly, 3-linkage assembly, 4-limiting assembly; 11-Wing seat, 111-Base plate, 112-Pressure plate, 113-Fixed pulley mounting seat, 114-Tension adjustment and clamping device, 1141-Compression block, 1142-Set screw; 12-Wing assembly, 121-Inner connecting plate, 122-Outer connecting plate, 1221-Rope clamp, 123-Rotating wing, 1231-First stop, 124-Telescopic wing, 1241-Second stop, 1242-Third stop, 1243-Fourth stop, 13-Guide unit, 131-Telescopic rod, 132-Return spring; 21-first slider, 211-first locking slot, 212-second locking slot, 213-avoidance slot, 22-connecting rod, 23-slider seat, 231-first supporting end, 232-second supporting end, 24-driving member, 25-screw rod, 26-guide rod; 31-traction rope, 32-pulley block, 321-first fixed pulley, 322-second fixed pulley, 323-movable pulley; 41-first limiting unit, 411-first limiter, 4111-first lock hook, 41111-first limiting surface, 412-first spring, 413-first release member, 4131-first electromagnet, 4132-first armature, 4133-second slider, 41331-sliding column, 4134-decoupling structure, 4135-nut seat, 4136-rubber pad, 414-pin shaft, 42-second limiting unit, 421-second limiter, 4211-second lock hook, 42111-second limiting surface, 4212-release block, 422-second spring. DETAILED DESCRIPTION

[0019] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] Reference Figures 1 to 9 As shown, an embodiment of the present invention provides a trigger-type folding-retracting linkage wing structure for a seaplane, comprising a wing assembly 12, a drive assembly 2, a linkage assembly 3, and a limit assembly 4, wherein: The wing group 12 pieces 1 include a wing seat 11, two wing groups 12 and two guide units 13. The wing seat 11 is used to connect the fuselage of the seaplane; the two wing groups 12 are symmetrically installed at the two ends of the wing seat 11 in the length direction, and the wing group 12 is retractable and connected to an inner connecting plate 121 and an outer connecting plate 122 at both ends, and the inner connecting plate 121 is rotatably installed on the wing seat 11; the guide unit 13 includes a telescopic rod 131 and a return spring 132, the two ends of the telescopic rod 131 are respectively connected to the inner connecting plate 121 and the outer connecting plate 122, the return spring 132 is sleeved on the telescopic rod 131, and the two ends of the return spring 132 are respectively abutted against the inner connecting plate 121 and the outer connecting plate 1 22; Each guide unit 13 is provided with two telescopic rods 131 and return springs 132, which can improve the guiding stability. The telescopic rod 131 is formed by nesting and connecting multiple sections of sub-rods. In this embodiment, the telescopic rod 131 includes rod one, rod two and rod three. Rod one is connected to the inner connecting plate 121, rod two slides in rod one, rod three slides in rod two, and rod three is connected to the outer connecting plate 122. The return spring 132 is sleeved on the outside of rod one, rod two and rod three; the return spring 132 is in a compressed state when assembled, and the elastic return force generated at its two ends continuously acts on the inner connecting plate 121 and the outer connecting plate 122, and the elastic return force increases after the wing group 12 contracts. The elastic return force will cause the wing sections of the wing group 12 to have a separation trend, thereby forming a driving force for the extension of the wing group 12; The driving assembly 2 includes a first slider 21 and a connecting rod 22; the first slider 21 is capable of moving in a direction perpendicular to the length direction of the wing seat 11; the two ends of the connecting rod 22 are respectively hinged to the first slider 21 and the end of the wing assembly 12 close to the wing seat 11; The linkage assembly 3 includes a traction rope 31 and a pulley assembly 32. The traction rope 31 is connected to the first slider 21 and the outer connecting plate 122, respectively, and is tensioned and mounted on the pulley assembly 32. The outer connecting plate 122 is provided with a rope clamp 1221, and one end of the traction rope 31 is clamped in the rope clamp 1221. The limiting assembly 4 includes a first limiting unit 41 and a second limiting unit 42. The first limiting unit 41 is used to limit the first slider 21 when the wing assembly 12 is retracted and folded into place, and the second limiting unit 42 is used to limit the first slider 21 when the wing assembly 12 is extended and unfolded into place. The linked wing structure has the following two working states: Before entering the water, the first slider 21 moves away from the wing seat 11, and the connecting rod 22 drives the inner connecting plate 121 to rotate around the wing seat 11 to achieve the backward sweep of the wing group 12. The traction rope 31 pulls the outer connecting plate 122 towards the inner connecting plate 121 to achieve the contraction of the wing group 12. The telescopic rod 131 contracts and the return spring 132 is compressed to accumulate elastic return force until the first limiting unit 41 limits the first slider 21. After emerging from the water, the limit of the first limiting unit 41 is released, and the elastic reset force drives the outer connecting plate 122 to move away from the inner connecting plate 121 to achieve the extension of the wing group 12. The traction rope 31 drives the first slider 21 to move toward the wing seat 11, and the first connecting rod 22 drives the inner connecting plate 121 to rotate around the wing seat 11 to achieve the expansion of the wing group 12 until the second limiting unit 42 limits the first slider 21.

[0021] In some embodiments, the wing assembly 12 further includes a rotary wing 123 and at least one telescopic wing 124, the inner connecting plate 121 is rotatably mounted on the wing seat 11 and fixedly connected to the rotary wing 123, at least one telescopic wing 124 is slidably mounted in the rotary wing 123, and the outer connecting plate 122 is connected to the outer end surface of the innermost telescopic wing 124. Figure 1 As shown, in this embodiment, two telescopic wings 124 are provided, the telescopic wings 124 of the middle layer are slidably installed in the rotating wings 123, and the telescopic wings 124 of the innermost layer are slidably installed in the telescopic wings 124 of the middle layer.

[0022] In a further embodiment, the rotating wing 123 and the telescopic wing 124 are nested sleeves with a tapered trapezoidal cross-section, and the inner wall of the rotating wing 123 away from the inner connecting plate 121 is provided with a first stop 1231; the outer wall of the telescopic wing 124 close to the inner connecting plate 121 is provided with a second stop 1241, and the second stop 1241 is used to abut against the first stop 1231; the inner wall of the telescopic wing 124 close to the inner connecting plate 121 is provided with a third stop 1242, and the third stop 1242 is used to abut against the second stop 1241 of the adjacent inner layer telescopic wing 124, and the inner wall of the middle telescopic wing 124 away from the inner connecting plate 121 is provided with a fourth stop 1243, and the fourth stop 1243 is used to abut against the second stop 1241 of the adjacent inner layer telescopic wing 124. The trapezoidal inclined surface of the sleeve forms a self-guiding mechanism, which produces an automatic centering effect through the contact of the conical surface during the extension and retraction process, effectively reducing the friction between the wing sections. Compared with the traditional straight tube structure, it can effectively reduce the contact area, prevent jamming, and improve the stability of the wing group 12 during the extension and retraction process; the second stop block 1241 is used to abut against the first stop block 1231, the third stop block 1242 is used to abut against the second stop block 1241 of the adjacent inner layer of the telescopic wing 124, and the fourth stop block 1243 is used to abut against the second stop block 1241 of the adjacent inner layer of telescopic wing 124. A mechanical stop block composed of a boss is provided at the junction of each wing section as a mechanical limit device, and the end face of the hardened stop cooperates with the elastic buffer layer to limit the extension range of each telescopic wing 124.

[0023] In some embodiments, the drive assembly 2 also includes a slider seat 23, a driving member 24, a screw rod 25 and a guide rod 26. The slider seat 23 is connected to the wing seat 11, and the length direction of the slider seat 23 is perpendicular to the length direction of the wing seat 11; the driving member 24 is installed on the slider seat 23; the screw rod 25 is rotatably installed on the slider seat 23 and connected to the driving member 24, and a first threaded hole and a first guide hole are provided on the first slider 21. The first threaded hole is threadedly connected to the screw rod 25, and the length direction of the screw rod 25 is parallel to the length direction of the slider seat 23; the guide rod 26 is fixedly installed on the slider seat 23 and parallel to the screw rod 25, and the guide rod 26 passes through the first guide hole. The drive member 24 drives the screw rod 25 to rotate, which in turn threads the first slider 21. Limited by the first guide rod 26, the first slider 21 cannot rotate, thereby allowing the first slider 21 to move linearly along the length of the screw rod 25. This, in turn, drives the rotary wing 123 to rotate about the wing mount 11 via the connecting rod 22, thereby completing the sweep and deployment of the wing assembly 12. In this embodiment, the drive member 24 is a motor.

[0024] In some embodiments, the first limiting unit 41 includes a first limiter 411, a first spring 412 and a first release member 413. The middle part of the first limiter 411 is rotatably mounted on the slider seat 23 through a pin 414. The top surface of the slider seat 23 is provided with a receiving groove, and the first limiter 411 is located in the receiving groove. The end of the first limiter 411 away from the wing seat 11 is provided with a first locking hook 4111. The cross section of the first locking hook 4111 is a triangle, and the triangle is an acute-angled triangle. The first locking hook 4111 is provided with an end surface of the first limiter 411. and the top surface; a first limiting surface 41111 is adjacent to the first limit surface; a first locking groove 211 is provided on the side of the first slider 21 close to the first limiter 411, and when the wing group 12 is swept back into position, the first locking groove 211 engages with the first locking hook 4111 and the first locking groove 211 contacts the first limiting surface 41111; the first spring 412 is compressed and installed between the slider seat 23 and the first limiter 411; the first releasing member 413 is used to drive the first limiting member to rotate to release the engagement of the first locking hook 4111 and the first locking groove 211. When the first slider 21 moves to the rear limit position in the direction away from the wing seat 11, the bottom side of the first slider 21 will first contact the inclined surface of the first locking hook 4111 and press the locking hook downward. As the first slider 21 completely moves to the rear limit position, the first locking groove 211 engages with the first locking hook 4111 and the first locking groove 211 abuts against the first limiting surface 41111, and under the elastic force of the first spring 412, the first locking hook 4111 will lock the first slider 21, thereby limiting its movement in the direction close to the wing seat 11, so that the wing group 12 maintains this state after being swept back into place, ensuring stability and reliability during underwater navigation; at the same time, in the rear limit position, the end face of the first slider 21 away from the wing seat 11 abuts against the first supporting end 231 of the slider seat 23, preventing it from continuing to move in the direction away from the wing seat 11, forming a mechanical stop, and realizing double mechanical limitation of the first slider 21.

[0025] In some embodiments, the second limiting unit 42 includes a second limiter 421 and a second spring 422, one end of the second limiter 421 is rotatably mounted on the slider seat 23, and the other end is provided with a second locking hook 4211, the cross-section of the second locking hook 4211 is a triangle, and the triangle is an acute triangle, and the second locking hook 4211 is provided with a second limiting surface 42111 adjacent to the end surface and top surface of the second limiter 421; the side of the first slider 21 close to the first limiter 411 is also provided with a second locking groove 212, and the shape of the second locking groove 212 and the first locking groove 211 combined together is an "M" shape, and when the wing group 12 is unfolded into place, the surface where the hypotenuse of the triangle of the second locking hook 4211 is located contacts the second locking groove 212. When the first slider 21 moves to the front limit position, the bottom side of the side of the first slider 21 will first contact the hypotenuse of the triangle of the second locking hook 4211 and press down. As the first slider 21 completely moves to the front limit position, the second locking hook 4211 is aligned with the second locking groove 212. Under the action of the elastic force of the second spring 422, the second locking hook 4211 will lock the first slider 21, and the second locking groove 212 will contact the second limiting surface 42111 to prevent it from moving away from the wing seat 11. In the front limit position, the end face of the first slider 21 close to the wing seat 11 contacts the second supporting end 232 of the slider seat 23, forming a mechanical stop, preventing the first slider 21 from continuing to move towards the wing seat 11, preventing the wing group 12 from continuously applying rotational force to the rotating wing 123 after it is deployed into place, thereby causing damage to the rotating wing 123 and improving the reliability of the device.

[0026] In some embodiments, the first release member 413 comprises a first electromagnet 4131 and a first armature 4132. The first electromagnet 4131 is mounted on the slider seat 23, and the first armature 4132 is mounted in the first stopper 411 and located below the first locking hook 4111. When energized, the magnetic attraction force exerted by the first electromagnet 4131 on the first armature 4132 is greater than the elastic force of the first spring 412. When energized, the first electromagnet 4131 attracts the first armature 4132 located below the first locking hook 4111, causing the first locking hook 4111 to move downward, thereby disengaging the first locking hook 4111 and releasing the first slider 21 from the rear limit position. The energization signal can be provided by a water monitoring sensor located on the seaplane. Once the rear limit position is released, the first slider 21 slides forward under the pre-stored elastic return force acting through the pulley block 32 until it reaches the front limit position.

[0027] In some other embodiments, the first release member 413 includes a second slider 4133 and a decoupling structure 4134, the second slider 4133 is provided with a second threaded hole, a second guide hole and a sliding column 41331, the second threaded hole is threadedly connected to the screw rod 25, the guide rod 26 passes through the second guide hole, and the sliding column 41331 is arranged perpendicular to the first guide hole; the decoupling structure 4134 is arranged at the end of the first limiter 411 away from the first locking hook 4111, the decoupling structure 4134 is an inclined guide groove, the end of the guide groove close to the wing seat 11 is lower than the end away from the wing seat 11, and the sliding column 41331 is slidably installed in the guide groove, so that when the second slider 4133 slides toward the wing seat 11, it drives the first limiter 411 to rotate around the slider seat 23 so that the first locking hook 4111 descends and disengages from the first locking groove 211. The screw rod 25 drives the second slider 4133 to move forward from the initial position (the position is located between the decoupling structure 4134 and the second locking hook 4211). During the forward movement of the second slider 4133, the sliding column 41331 thereon pushes the decoupling structure 4134 to move upward, causing the first limiter 411 to rotate around the pin shaft 414 in the middle, thereby causing the first locking hook 4111 to move downward and disengage the lock of the first locking groove 211, thereby releasing the limit of the first slider 21 at the rear extreme position.

[0028] In other embodiments, the second slider 4133 is not provided with a second threaded hole, and a second through hole passing through the screw rod 25 is provided on the second slider 4133. The nut seat 4135 is fixedly installed on the second slider 4133. The nut seat 4135 is threadedly connected to the screw rod 25. The nut seat 4135 is driven by the screw rod 25 to move linearly along the screw rod 25, thereby realizing the linear movement of the second slider 4133 along the screw rod 25.

[0029] In some embodiments, a release block 4212 is further provided on the second limiter 421. The cross-section of the release block 4212 is a trapezoid with a small upper part and a large lower part. When the second slider 4133 slides away from the wing seat 11, the second slider 4133 contacts the waist of the release block 4212, thereby causing the second limiter 421 to rotate around the slider seat 23 and release the limit on the second slider 4133. The release block 4212 is a trapezoidal structure designed for the middle part of the second lock hook 4211. Its height is slightly higher than the height of the second lock hook 4211 and its width is sufficient to pass through the avoidance groove 213 at the bottom of the first slider 21. When it is necessary to release the limit of the front extreme position, the second slider 4133 needs to be moved backward from the initial position. During this process, the bottom of the second slider 4133 contacts and cooperates with the inclined surface of the waist of the trapezoidal structure on the second limiter 421, so that the second limiter 421 rotates around the slider seat 23, forcing the second lock hook 4211 to move downward, and then disengage the lock with the second lock groove 212, thereby realizing the release of the limit of the first slider 21 at the front extreme position.

[0030] In some embodiments, the first slider 21 is not provided with a first threaded hole, and a first through hole is provided on the first slider 21 and is sleeved on the screw rod 25. The second slider 4133 is installed with a rubber pad 4136 on the side close to the first slider 21. The rubber pad 4136 is in contact with the first slider 21 and continues to push the first slider 21 backward under the action of the screw rod 25 until the first slider 21 reaches the rear end and re-engages and locks with the first locking hook 4111, completing the entire cycle process.

[0031] In some embodiments, the wing seat 11 includes a base plate 111 and a pressure plate 112, and the base plate 111 and the pressure plate 112 are connected together with the inner connecting plate 121 and the outer connecting plate 122. There are four symmetrically distributed fixed pulley mounting seats 113 and two tension adjusting and clamping devices 114 on the surface of the base plate 111. The tension adjusting and clamping device 114 serves to fix the traction rope 31 and adjust the tension of the traction rope 31. The tension adjusting and clamping device 114 includes a clamping block 1141 and a tightening screw 1142. The traction rope 31 is tightened by the upper clamping block 1141, and the clamping block 1141 is tightened by the tightening screw 1142.

[0032] In some embodiments, the pulley group 32 includes a first fixed pulley 321, a second fixed pulley 322 and a movable pulley 323, the first fixed pulley 321 is installed at the middle part of the wing seat 11, the second fixed pulley 322 is installed at one end of the wing seat 11 close to the wing group 12, the movable pulley 323 is rotatably installed on the first slider 21, one end of the traction rope 31 is connected to one end of the wing seat 11 close to the slider seat 23 with adjustable tension, and passes through the movable pulley 323, the first fixed pulley 321 and the second fixed pulley 322 in sequence, and the other end of the traction rope 31 is connected to the outer connecting plate 122. The head end of the traction rope 31 is fixed to the tension adjustment and clamping device 114 of the bottom plate 111. After forming the first angle path along the lower edge of the movable pulley 323, it passes through the upper edge of the first fixed pulley 321 and the upper edge of the second fixed pulley 322 in sequence to form two continuous turns, and the final end is fixed to the anchor point of the rope clamp 1221 on the outer connecting plate 122. This traction system ensures the coordinated expansion of the wing group 12 when the wing body is extended, and the coordinated contraction movement of the wing group 12 when in the folded state through the transmission of the rope. The length parameters of the traction rope 31 are determined by structural calculations. It must simultaneously meet the dimensional requirements of the two extreme states of the wing body being fully retracted in the wing-swept state and the wing body being fully extended in the wing-expanded state. It takes into account the telescopic length stroke of the wing group 12, the movement trajectory of the first slider 21, and the change in the angle path of the pulley group 32, and is finally verified by three-dimensional motion simulation. The pre-stored elastic reset force is mechanically amplified and directional-converted by the pulley group 32, thereby realizing synchronous driving of the two motion dimensions of the wing group 12 deployment and the wing group 12 extension. Specifically, when the traction rope 31 passes through the compound angle path formed by the lower edge of the movable pulley 323 and the front and rear fixed pulleys, the displacement of the traction rope 31 is converted into a predetermined multiple of the displacement of the movable pulley 323 through the leverage effect of the pulley group 32, thereby driving the first slider 21 to move forward synchronously, and at this time, the linear motion of the first slider 21 is converted into the synchronous deployment of the two wing groups 12 through the connecting rod 22, thereby realizing the motion coupling of the deployment of the traction rope 31 and the extension of the traction rope 31.

[0033] The working principle of the trigger-type folding-telescopic linkage wing structure for seaplanes proposed in an embodiment of the present invention is as follows: the working process of the trigger-type folding-telescopic linkage wing structure can be divided into an aerial flight state, a water entry folding stage, an underwater navigation state, and an out-of-water deployment stage: (1) Air flight status During flight, wing assembly 12 is fully deployed and extended. Its sweep angle is minimized, while its axial length is maximized. This position provides sufficient lift for efficient and stable flight. In this state, the return spring 132 within wing assembly 12 reaches its lowest elastic potential energy during the entire flight process. The second slider 4133 is in its initial position, located between the unhooking structure 4134 of the first limiter 411 and the second locking hook 4211 of the second limiter 421. Simultaneously, the first slider 21 is precisely locked at the front limit of its travel, a position maintained by a dual safety mechanism. The first stage is that the front end of the first slider 21 abuts against the second support end 232 on the slider seat 23, blocking the first slider 21 from moving forward. The second locking hook 4211 and the second locking groove 212 form a locking fit, preventing the first slider 21 from moving backward. The second stage is that the angle between the two connecting rods 22 and the sliding direction of the first slider 21 is 90 degrees. At this time, the mechanism composed of the wing group 12, the connecting rod 22, the first slider 21 and the slider seat 23 is at a dead point. This prevents the wing group 12 from rotating unexpectedly due to the forces applied during flight, thereby ensuring flight safety and stability. (2) Folding stage upon entry into water The folding stage after entering the water is the transition stage when the seaplane switches from the aerial flight state to the underwater navigation state. The linked wing structure completes the transformation from the unfolded and extended state to the swept and retracted state through the mechanical transmission system. While entering the state suitable for underwater navigation, it also reduces the impact load on the wing when crossing the water surface. In this stage, the overall deformation of the linked wing can be completed by the drive of a single motor. The rotational power of the motor drives the screw 25 to rotate, driving the second slider 4133 to move backward along the axis from the initial position. During the movement, the bottom of the second slider 4133 contacts and cooperates with the inclined surface of the trapezoidal structure on the second limiter 421. The component force generated by the sliding of the inclined surface forces the second locking hook 4211 to move downward, thereby releasing the locking constraint of the second limiter 421 on the first slider 21 at the front extreme position. Subsequently, the rubber pad 4136 on the second slider 4133 contacts the first slider 21, applying a thrust to the slider 21 and continuously pushing the slider 21 backward. During this backward movement, the movable pulley 323 on the first slider 21 also moves backward synchronously. The closed-loop traction rope 31, acting on the pulley system 32, generates a reverse traction force. This force acts on the end of the wing assembly 12 through the rope clamp 1221, causing the wing assembly 12 to produce axial compression and compressing the return spring 132 inside the wing assembly 12 to restore potential energy. Simultaneously, the backward linear motion of the first slider 21 is converted into the synchronous swept-back folding motion of the left and right wing assemblies 12 by the action of the two connecting rods 22. When the first slider 21 moves to the rear limit position in the direction away from the wing seat 11, the bottom side of the first slider 21 will first contact the inclined surface of the first locking hook 4111 and press the locking hook downward. As the first slider 21 completely moves to the rear limit position, the first locking groove 211 engages with the first locking hook 4111 and the first locking groove 211 contacts the first limiting surface 41111, and under the elastic force of the first spring 412, the first locking hook 4111 will lock the first slider 21, thereby limiting its movement in the direction close to the wing seat 11, so that the wing group 12 maintains this state after being swept back into place, ensuring stability and reliability during underwater navigation; at the same time, in the rear limit position, the rear end of the first slider 21 abuts against the first supporting end 231 on the slider seat 23, preventing it from continuing to move in the direction away from the wing seat 11, forming a mechanical stop, and realizing double mechanical limitation of the first slider 21. After the second slider 4133 pushes the first slider 21 to its rearward limit position and completes the locking constraint, the second slider 4133 returns to its initial position under the reverse drive of the motor, avoiding any adverse effects on subsequent deployment. During this stage, the motor power is transmitted through the combined action of the slider, connecting rod 22, and pulley assembly 32, achieving integrated control of wing sweep, wing body retraction, and elastic energy storage.

[0034] (3) Underwater navigation status After the linked wing structure enters the underwater navigation state after the folding stage, the wing assembly 12 is in a fully swept and fully retracted position. At this time, the sweep angle of the wing assembly 12 is maximum, and the span of the wing assembly 12 is minimum, which simultaneously reduces the underwater cross-sectional area and wetted area of the wing, reduces fluid resistance, and improves underwater propulsion efficiency. In this state, the return spring 132 inside the wing assembly 12 is at its maximum elastic potential energy after storing energy during the folding stage. The second slider 4133 also returns to its initial position after pushing the first slider 21 to the rear limit position. At this time, the first slider 21 is maintained in the rear limit position by the locking constraint formed by the first locking hook 4111 and the first locking groove 211, preventing the first slider 21 from moving forward, and the first locking groove 211 abuts against the first limiting surface 41111, preventing it from moving backward.

[0035] (4) Water outflow stage There are two drive modes available for the out-of-water deployment phase. One is triggered by environmental sensing. When the seaplane emerges from the water, the water monitoring sensor triggers the first electromagnet 4131 to energize, attracting the first armature 4132 located below the first locking hook 4111 of the first stopper 411, causing the first locking hook 4111 to move downward, thereby releasing the first stopper 411's locking constraint on the first slider 21 at its rearward limit position. The other is a motor-driven forward movement of the second slider 4133 from its initial position. During this process, the sliding post 41331 on the second slider 4133 drives the unhooking structure 4134 of the first stopper 411 upward, causing the first stopper 411 to rotate about its central pin 414, further moving the first locking hook 4111 downward and releasing the locking constraint. When the first stopper 411's locking constraint on the first slider 21 at its rearward limit position is released, the out-of-water deployment phase begins. At this point, the return spring 132 installed in the folding wing releases its pre-stored elastic potential energy. The resulting elastic return force acts on the wing assembly 12, pushing the wing sections of the wing assembly 12 to extend axially. It also simultaneously pulls the rope clamp 1221 mounted on the outer connecting plate 122, causing the traction rope 31 to move axially along the wing. This traction force is mechanically amplified and converted in direction by the pulley system 32, causing the second slider 4133 to move forward synchronously. At this point, the linear motion of the first slider 21 is converted into the synchronous deployment motion of the left and right wing assemblies 12 via the two connecting rods 22. As the first slider 21 moves to the forward limit position, the bottom side of the first slider 21 first contacts the hypotenuse of the triangle of the second locking hook 4211 and presses downward. As the first slider 21 fully moves to the forward limit position, the second locking hook 4211 aligns with the second locking groove 212. Under the elastic force of the second spring 422, the second locking hook 4211 locks the first slider 21, and the second locking groove 212 contacts the second limiting surface 42111, preventing it from moving away from the wing seat 11. In the forward limit position, the front end of the first slider 21 abuts the second support end 232 on the slider seat 23, forming a mechanical stop and preventing the first slider 21 from moving further toward the wing seat 11. During this stage, the pre-stored elastic potential energy, through the combined action of the slider-connecting rod 22 transmission-pulley assembly 32 transmission, realizes the coupled movement of the wing assembly 12 deployment and extension, and enables the linked wing structure to enter the airborne flight state from the underwater navigation state, completing the entire workflow of the linked wing structure.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A trigger-type folding-retractable linkage wing structure for a seaplane, characterized in that: It includes wing assembly, drive assembly, linkage assembly and limit assembly, among which: The wing assembly includes a wing seat, two wing groups, and two guide units. The wing seat is used to connect to the fuselage of the seaplane. The two wing groups are symmetrically mounted at the two ends of the wing seat in the length direction. The wing groups are telescopic and connected to an inner connecting plate and an outer connecting plate at both ends. The inner connecting plate is rotatably mounted on the wing seat. The guide unit includes a telescopic rod and a return spring. The two ends of the telescopic rod are respectively connected to the inner connecting plate and the outer connecting plate. The return spring is sleeved on the telescopic rod. The two ends of the return spring respectively contact and are limited to the inner connecting plate and the outer connecting plate. The driving assembly includes a first slider and a connecting rod; the first slider is capable of moving in a direction perpendicular to the length direction of the wing seat; the two ends of the connecting rod are respectively hinged to the first slider and an end of the wing assembly close to the wing seat; The linkage assembly includes a traction rope and a pulley assembly, wherein the traction rope is connected to the first slider and the outer connecting plate respectively and is tensioned and mounted on the pulley assembly; The limiting assembly includes a first limiting unit and a second limiting unit. The first limiting unit is used to limit the first slider when the wing group is retracted and folded into place, and the second limiting unit is used to limit the first slider when the wing group is extended and unfolded into place.

2. The trigger-type folding-retracting linkage wing structure for a seaplane according to claim 1, characterized in that: The wing group also includes a rotating wing and at least one telescopic wing. The inner connecting plate is rotatably mounted on the wing seat and fixedly connected to the rotating wing. At least one telescopic wing is slidably mounted in the rotating wing. The outer connecting plate is connected to the outer end surface of the innermost telescopic wing.

3. The trigger-type folding-retracting linkage wing structure for a seaplane according to claim 2, characterized in that: The driving assembly also includes a slider seat, a driving member, a screw rod and a guide rod. The slider seat is connected to the wing seat, and the length direction of the slider seat is perpendicular to the length direction of the wing seat; the driving member is installed on the slider seat; the screw rod is rotatably installed on the slider seat and connected to the driving member, and a first threaded hole and a first guide hole are provided on the first slider. The first threaded hole is threadedly connected to the screw rod, and the length direction of the screw rod is parallel to the length direction of the slider seat; the guide rod is fixedly installed on the slider seat and parallel to the screw rod, and the guide rod passes through the first guide hole.

4. The trigger-type folding-retracting linkage wing structure for a seaplane according to claim 3, characterized in that: The first limiting unit includes a first limiter, a first spring and a first releasing member, the middle part of the first limiter is rotatably mounted on the slider seat, and a first locking hook is provided at an end of the first limiter away from the wing seat, the cross-section of the first locking hook is triangular, and the first locking hook is provided with a first limiting surface adjacent to the end surface and the top surface of the first limiter; a first locking groove is provided on the side of the first slider close to the first limiter, and when the wing group is swept back into position, the first locking groove engages with the first locking hook and the first locking groove contacts the first limiting surface; the first spring is compressed and installed between the slider seat and the first limiter; the first releasing member is used to drive the first limiting member to rotate to release the engagement of the first locking hook with the first locking groove.

5. The trigger-type folding-retracting linkage wing structure for a seaplane according to claim 4, characterized in that: The second limiting unit includes a second limiter and a second spring. One end of the second limiter is rotatably mounted on the slider seat, and the other end is provided with a second locking hook. The cross-section of the second locking hook is triangular. The side of the first slider close to the first limiter is also provided with a second locking groove. When the wing group is unfolded into place, the surface where the hypotenuse of the triangle of the second locking hook is located contacts the second locking groove.

6. The trigger-type folding-retracting linkage wing structure for a seaplane according to claim 5, characterized in that: The first release member includes a first electromagnet and a first armature. The first electromagnet is installed on the slider seat. The first armature is installed in the first limiter and is located below the first lock hook. When the first electromagnet is energized, the magnetic attraction force on the first armature is greater than the elastic force of the first spring.

7. The trigger-type folding-retracting linkage wing structure for a seaplane according to claim 5, characterized in that: The first release member includes a second slider and a decoupling structure, the second slider is provided with a second threaded hole, a second guide hole and a sliding column, the second threaded hole is threadedly connected to the screw rod, the guide rod passes through the second guide hole, and the sliding column is arranged perpendicular to the first guide hole; the decoupling structure is arranged at an end of the first limiter away from the first locking hook, and the decoupling structure is an inclined guide groove, the end of the guide groove close to the wing seat is lower than the end away from the wing seat, and the sliding column is slidably installed in the guide groove, so that when the second slider slides close to the wing seat, it drives the first limiter to rotate around the slider seat so that the first locking hook descends and disengages from the first locking groove.

8. The trigger-type folding-retracting linkage wing structure for a seaplane according to claim 7, characterized in that: The second limiter is also provided with a release block, the cross-section of which is a trapezoid with a small upper part and a large lower part. When the second slider slides away from the wing seat, the second slider contacts the waist of the release block, thereby causing the second limiter to rotate around the slider seat and release the limit on the second slider.

9. The trigger-type folding-retracting linkage wing structure for a seaplane according to claim 2, characterized in that: The rotating wing and the telescopic wing are nested sleeves with a tapered trapezoidal cross-section. A first stopper is provided on the inner wall of the rotating wing at one end away from the inner connecting plate; a second stopper is provided on the outer wall of the telescopic wing at one end close to the inner connecting plate, and the second stopper is used to abut against the first stopper; a third stopper is provided on the inner wall of the telescopic wing at one end close to the inner connecting plate, and the third stopper is used to abut against the second stopper of the adjacent inner telescopic wing.

10. The trigger-type folding-retracting linkage wing structure for a seaplane according to any one of claims 2 to 9, characterized in that: The pulley group includes a first fixed pulley, a second fixed pulley and a movable pulley. The first fixed pulley is installed at the middle part of the wing seat, the second fixed pulley is installed at one end of the wing seat close to the wing group, and the movable pulley is rotatably installed on the first slider. One end of the traction rope is connected to one end of the wing seat close to the slider seat with adjustable tension, and passes through the movable pulley, the first fixed pulley and the second fixed pulley in sequence. The other end of the traction rope is connected to the outer connecting plate.

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