A cross-domain aircraft airfoil and rudder synchronous folding mechanism

Abstract

The application discloses a cross-domain aircraft airfoil and rudder surface synchronous folding mechanism and relates to the technical field of aircrafts.The synchronous folding mechanism comprises a rotating shaft, which is arranged between a folding airfoil and a fixed airfoil, and the folding airfoil is folded and turned over relative to the fixed airfoil with the rotating shaft as an axis; a shaft sleeve structure, which is arranged between a folding rudder surface and a fixed rudder surface, and the folding rudder surface is folded and turned over relative to the fixed rudder surface with the shaft sleeve structure as an axis; the rotating shaft and the shaft sleeve structure are arranged along the same axis; a rectangular connecting rod, one end of which is in a plate shape, one end of the rectangular connecting rod is connected with the shaft sleeve structure through a pin shaft, the other end of the rectangular connecting rod is connected with the rotating shaft, the pin shaft is perpendicular to a plane in which the plate-shaped part of the rectangular connecting rod is located, and the folding rudder surface is deflected relative to the folding airfoil with the pin shaft as an axis; the folding mechanism realizes synchronism in the folding and unfolding process, and the volume of the mechanism is reduced while the functions are integrated.

Description

Technical Field

[0001] This invention belongs to the field of aircraft technology, and more specifically, relates to a mechanism for the synchronous folding of wing surfaces and control surfaces of a cross-domain aircraft. Background Technology

[0002] Trans-domain aircraft need to achieve efficient flight in different speed and airspace domains. The development of such aircraft faces contradictions between aerodynamics and shape. Specifically, in order to meet the long endurance required for low-altitude, low-speed flight, aircraft usually need to adopt a large aspect ratio to obtain a high lift-to-drag ratio and good maneuverability. When flying at high altitude and high speed, a large wing surface will generate a lot of drag, affecting the speed and maneuverability of the aircraft and bringing huge structural loads.

[0003] To resolve this reliability contradiction, the wing and control surface folding mechanism was developed. This mechanism is a key functional component for enabling aircraft to fly across speed ranges. Its core function is to dynamically match the optimal aerodynamic shape of the aircraft under different flight conditions by changing the shape of the wing and control surfaces, thereby ensuring flight performance.

[0004] Early folding mechanism technology was mainly inspired by naval carrier-based aircraft. In order to store more aircraft on the limited deck, carrier-based aircraft generally adopted wing folding technology. These mechanisms usually use a combination of a single hinge and a hydraulic actuator to achieve upward or backward folding of the wings. The folded state does not participate in flight.

[0005] The folding mechanism of a cross-domain aircraft faces far more stringent technical challenges than that of a carrier-based aircraft: 1. The mechanism needs to withstand the aerodynamic loads of high-speed flight; 2. The moving joints of the folding mechanism run through the wing surface, and the key sealing points that prevent airflow from intruding into the fuselage are directly related to flight safety; 3. In the unfolded state, the wing surface must form a sufficiently rigid whole with the main wing, and any slight loosening or deformation will seriously affect the aerodynamic performance and handling stability of the aircraft; 4. Under the premise of meeting the requirements of function and strength, the mechanism must be as lightweight as possible to reduce the impact on the aircraft's range load and endurance.

[0006] In summary, wing and control surface folding and structures form the deformable skeleton for multi-domain aircraft to achieve their core capabilities. While current technology has made significant progress, there are still many bottlenecks to overcome in terms of mechanism reliability, environmental adaptability, lightweighting, and intelligence. Future development will tend towards multi-degree-of-freedom folding, autonomous state perception, autonomous fault diagnosis, and highly integrated actuation / locking designs to support multi-domain aircraft in moving towards greater reliability, intelligence, and practicality. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies by providing a synchronous folding mechanism for the wing and control surfaces of a cross-domain aircraft. This folding mechanism arranges the pivot and bushing structure along the same axis. During low-altitude flight, the folding wing and control surfaces are folded synchronously, and during high-altitude, high-speed flight, they are unfolded synchronously, improving the synchronization of the folding wing and control surfaces during the folding and unfolding process. In addition, the folding control surfaces and the fixed control surfaces can be synchronously deflected around the pivot. Thus, this folding mechanism integrates functions while reducing the size of the mechanism.

[0008] To achieve the above objectives, the present invention provides a mechanism for the synchronous folding of wing surfaces and control surfaces of a cross-domain aircraft, comprising: A pivot is provided between the folding wing surface and the fixed wing surface, wherein the folding wing surface is folded and flipped relative to the fixed wing surface with the pivot as the axis; A bushing structure is disposed between a folding rudder surface and a fixed rudder surface, wherein the folding rudder surface is folded and flipped relative to the fixed rudder surface with the bushing structure as the axis; The rotating shaft and the bushing structure are arranged along the same axis; A rectangular connecting rod, one end of which is plate-shaped, is connected to the bushing structure via a pin. The other end of the rectangular connecting rod is connected to the rotating shaft. The pin is perpendicular to the plane containing the plate-shaped portion of the rectangular connecting rod. The folding control surface deflects relative to the folding wing surface with the pin as the axis.

[0009] Preferably, the rotating shaft is connected to the fixed wing surface by screws, and a sleeve is provided on the folding wing surface. The sleeve is fitted onto the end of the rotating shaft, and the rotating shaft and the sleeve rotate in relation to each other.

[0010] Preferably, a rectangular groove is provided at one end of the folding wing surface near the sleeve, the rectangular groove is connected to the central hole of the sleeve, the cross-section of the plate-shaped portion of the rectangular connecting rod matches the cross-section of the rectangular groove, and when the plate-shaped portion of the rectangular connecting rod passes through the rectangular groove, the other end of the rectangular connecting rod is rotatably disposed in the central hole of the rotating shaft.

[0011] Preferably, the other end of the rectangular connecting rod is connected to the central hole of the rotating shaft through a connecting rod locking nut, and the other end of the rectangular connecting rod can rotate 360° within the central hole of the rotating shaft.

[0012] Preferably, the bushing structure includes a first rotating shaft and a first bushing, the first rotating shaft including a ball head portion and a rotating shaft portion connected to each other, the axis of the rotating shaft portion passing through the center of the ball head portion.

[0013] Preferably, the ball head portion is connected to the folding rudder surface, the first bushing is connected to the fixed rudder surface, the rotating shaft portion is rotatably connected to the first bushing via the bushing, and the outer and inner surfaces of the bushing are rotatably fitted to the inner side of the first bushing and the outer side of the rotating shaft portion, respectively.

[0014] Preferably, the first bushing is further provided with a tail cone, one end of which has a mounting hole, and the end of the rotating shaft is inserted into the mounting hole and connected by a bushing locking nut.

[0015] Preferably, a fan-shaped groove is provided at the other end of the ball head portion, and the plate-shaped portion of the rectangular connecting rod is embedded in the fan-shaped groove, with the two side surfaces of the plate-shaped portion of the rectangular connecting rod conforming to the groove wall of the fan-shaped groove.

[0016] Preferably, a pin hole is provided on the plate-shaped portion of the rectangular connecting rod, and the pin is rotatably disposed between the groove walls of the fan-shaped groove, with the pin inserted into the pin hole.

[0017] Preferably, a servo nacelle is provided on the folding wing surface, one end of the folding servo surface extends into the servo nacelle, and one end of the fixed servo surface is rotatably mounted on the fixed wing surface. The one end of the folding servo surface, the one end of the fixed servo surface, and the pin are all on the same axis.

[0018] This invention provides a mechanism for the synchronous folding of wing surfaces and control surfaces of a cross-domain aircraft, which has the following advantages: 1. The folding mechanism includes three revolute joints and one ball joint, which can move in two degrees of freedom: rotation around the pivot axis and rotation around the rudder axis. It inherits the multi-degree-of-freedom mechanism within a limited space, realizing the integrated design of the folding mechanism. 2. This folding mechanism can achieve high-precision synchronous folding and unfolding of folding wings and folding control surfaces, avoiding aerodynamic shape changes caused by shape deviations; 3. This folding mechanism can achieve synchronous deflection of folding control surfaces and fixed control surfaces, and can limit the mechanical position of folding control surfaces during flight to prevent aerodynamic shape changes. 4. A bushing structure is set between the folding rudder surface and the fixed rudder surface in the folding mechanism, which can increase the support stiffness of the foldable rudder surface and avoid rudder surface flutter.

[0019] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0020] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the invention.

[0021] Figure 1 A schematic diagram of a synchronous folding mechanism for the wing and control surfaces of a cross-domain aircraft according to an embodiment of the present invention is shown.

[0022] Figure 2 It shows Figure 1 A sectional view along line AA.

[0023] Figure 3 A schematic diagram of a folding rudder surface according to an embodiment of the present invention is shown.

[0024] Figure 4 A schematic diagram of a fixed control surface according to an embodiment of the present invention is shown.

[0025] Figure 5 A schematic diagram of a rectangular link according to an embodiment of the present invention is shown.

[0026] Explanation of reference numerals in the attached figures: 1. Folding wing surface; 2. Servo bay; 3. Folding control surface; 4. Bushing; 5. Bushing lock nut; 6. Tail cone; 7. Fixed control surface; 8. Pin; 9. Rectangular connecting rod; 901. Plate-shaped part; 902. Pin hole; 903. Round pin part; 10. Connecting rod lock nut; 11. Rotating shaft; 12. Fixed wing surface; 13. Sleeve; 14. First rotating shaft; 1401. Ball joint part; 1402. Rotating shaft part; 1403. Sector groove; 15. First bushing. Detailed Implementation

[0027] Preferred embodiments of the invention will now be described in more detail. While preferred embodiments of the invention are described below, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0028] like Figure 1 and Figure 2 As shown, the present invention provides a mechanism for the synchronous folding of wing surfaces and control surfaces of a cross-domain aircraft, comprising: A pivot 11 is provided between the folding wing surface 1 and the fixed wing surface 12. The folding wing surface 1 folds and flips relative to the fixed wing surface 12 with the pivot 11 as the axis. A bushing structure is set between the folding rudder surface 3 and the fixed rudder surface 7. The folding rudder surface 3 folds and flips relative to the fixed rudder surface 7 with the bushing structure as the axis. The rotating shaft 11 and the bushing structure are arranged along the same axis; The rectangular connecting rod 9 has a plate-like structure at one end that is set in the horizontal direction. The rear end of the rectangular connecting rod 9 is connected to the bushing structure through the pin 8. The front end of the rectangular connecting rod 9 is connected to the rotating shaft 11. The pin 8 is perpendicular to the plane where the plate-like part of the rectangular connecting rod 9 is located. The folding control surface 3 deflects relative to the folding wing surface 1 with the pin 8 as the axis.

[0029] Specifically, this folding mechanism overcomes the shortcomings of the inability of the wing surface and control surface to fold synchronously and insufficient support stiffness. It optimizes the complex mechanism of the folding control surface and addresses the problem of the two control surfaces not being able to fold and rotating synchronously along the control axis after unfolding, which makes integrated design difficult. This folding mechanism achieves synchronous folding of the folding wing surface 1 and the folding control surface 3. At the same time, the folding control surface 3 and the fixed control surface 7 can deflect synchronously around the control axis (which can also be regarded as the pin 8), improving the synchronicity during the folding and unfolding process. While integrating functions, it also reduces the size of the mechanism.

[0030] The rudder shaft referred to in the folding mechanism has its axis coaxial with the axis of pin 8.

[0031] In this folding mechanism, a rotating shaft 11 is set between the upper and lower wing surfaces, and a bushing structure is set between the upper and lower control surfaces. The rotating shaft 11 and the bushing structure are set on the same axis, so that the folding wing surface 1 and the folding control surface 3 can be folded and unfolded synchronously when the wing surface is folded. In addition, a rectangular connecting rod 9 is set between the folding control surface 3 and the folding wing surface 1. The rectangular connecting rod 9 includes a plate-shaped part 901 and a round pin part 903. The round pin part 903 is rotatably connected to the folding wing surface 1, and the plate-shaped part 901 is connected to the folding control surface 3 through a pin 8. In this way, the folding control surface 3 can rotate along the pin 8 to achieve deflection relative to the folding wing surface 1. Since a bushing structure is set between the folding control surface 3 and the fixed control surface 7, and the axis of the bushing structure is perpendicular to the axis of the pin 8, when the folding control surface 3 and the fixed control surface 7 are on the same plane and the folding control surface 3 deflects relative to the folding wing surface 1, the bushing structure can also achieve synchronous deflection of the folding control surface 3 and the fixed control surface 7.

[0032] This folding mechanism is applied to variable-range multi-domain aircraft. It can be used on the side wings and tail of UAVs, enabling synchronous folding and unfolding of wing surfaces and control surfaces. The folded control surfaces also have the ability to rotate around the control axis. The mechanism consists of three revolute joints and one ball joint, allowing for two degrees of freedom of movement: rotation around the pivot axis and rotation around the control axis. In the folded state, folding wing surface 1 and folding control surface 3 fold synchronously to a specified angle, not limited to a position where the folding wing surface and the fixed wing surface are in contact. In the unfolded state, the folding control surface and folding wing surface are fully unfolded, with folding control surface 3 and the fixed control surface 7 coaxial and connected by a hinge, allowing for synchronous rotation around the control axis.

[0033] Preferably, the rotating shaft 11 is connected to the fixed wing surface 12 by screws, and a sleeve 13 is provided on the folding wing surface 1. The sleeve 13 is sleeved on the end of the rotating shaft 11, and the rotating shaft 11 and the sleeve 13 rotate in relation to each other.

[0034] Specifically, the folding wing surface 1, the rotating shaft 11, and the fixed wing surface 12 constitute a wing surface folding and rotating pair. The folding wing surface 1 can be folded to a specified angle through the mutual rotating structure composed of the rotating shaft 11 and the sleeve 13. The rotating shaft 11 and the fixed wing surface 12 are fixed together by screws. The sleeve 13 between the upper and lower wing surfaces cooperates with the spindle on the rotating shaft 11 to achieve connection and fixed-axis rotation.

[0035] Preferably, a rectangular groove is provided at one end of the folding wing surface 1 near the sleeve 13. The rectangular groove is connected to the central hole of the sleeve 13. The cross-section of the plate-shaped portion 901 of the rectangular connecting rod 9 matches the cross-section of the rectangular groove. When the plate-shaped portion 901 of the rectangular connecting rod 9 is inserted through the rectangular groove, the left end of the rectangular connecting rod 901 is rotatably disposed in the central hole of the rotating shaft 11.

[0036] Specifically, there is a rectangular groove on the folding wing surface 1, so that the plate-shaped part 901 of the rectangular connecting rod 9 can be plugged into the folding wing surface 1. After the rectangular connecting rod 9 is plugged into and fixed to the folding wing surface 1, the rectangular connecting rod 9 and the folding wing surface 1 can move synchronously. In addition, the plate-shaped part 901 of the rectangular connecting rod 9 is connected to the ball head part 1401 on the folding control surface 3 through the pin 8. In this way, when the folding wing surface 1 and the folding control surface 3 rotate around the pin 8, the control surface can be deflected normally to achieve the pitch or turn of the UAV. At this time, the fixed control surface 7 and the folding control surface 3 rotate synchronously.

[0037] Preferably, the left end of the rectangular connecting rod 9 is connected to the center hole of the rotating shaft 11 through the connecting rod locking nut 10, and the left end of the rectangular connecting rod 9 can rotate 360° in the center hole of the rotating shaft 11.

[0038] Specifically, the left end of the rectangular connecting rod 9 is a round pin portion 903. After the round pin portion 903 is inserted into the center hole of the rotating shaft 11, the round pin portion 903 is then locked by the connecting rod locking nut 10. In this way, the round pin portion 903 cannot be separated from the rotating shaft 11, and the round pin portion 903 can rotate arbitrarily in the center hole. Since the rectangular connecting rod 9 with the round pin portion 903 is connected to the ball head portion 1401 in the bushing structure, when the wing surface needs to be folded, the folding wing surface 1 and the folding control surface 3 can be synchronously rotated around the rotating shaft 11 by the limiting shape of the fan-shaped groove of the rectangular connecting rod 9 and the ball head portion 1401.

[0039] like Figure 3 and Figure 4 As shown, the bushing structure includes a first rotating shaft 14 and a first bushing 15. The first rotating shaft 14 includes a ball head portion 1401 and a rotating shaft portion 1402 connected to each other. The axis of the rotating shaft portion 1402 passes through the center of the ball head portion 1401.

[0040] Preferably, the ball head portion 1401 is connected to the folding rudder surface 3, the first bushing 15 is connected to the fixed rudder surface 7, and the rotating shaft portion 1402 is rotatably connected to the first bushing 15 through the bushing 4. The outer surface and inner surface of the bushing 4 are respectively rotatably fitted to the inner side of the first bushing 15 and the outer side of the rotating shaft portion 1402.

[0041] like Figure 2 As shown, a tail cone 6 is inserted into the right end of the first bushing 15, and an installation hole is opened at the left end of the tail cone 6. The end of the rotating shaft part 1402 is inserted into the installation hole and connected by the bushing locking nut 5.

[0042] Specifically, the first rotating shaft 14 and the first bushing 15 in the bushing mechanism are connected to the folding rudder surface 3 and the fixed rudder surface 7, respectively. The first rotating shaft 14 includes a ball head portion 1401 and a rotating shaft portion 1402. The ball head portion 1401 is connected to the folding rudder surface 3, and the rotating shaft portion 1402 is inserted into the first bushing 15. The rotating shaft portion 1402 is rotatably connected to the first bushing 15 through the bushing 4, thereby realizing the relative rotation of the folding rudder surface 3 and the fixed rudder surface 7. A threaded thread is provided at the right end of the first rotating shaft 14. The right end of the first rotating shaft 14 passes through the bushing 4 and is exposed at the rear of the bushing 4. A bushing locking nut 5 is screwed onto the threaded thread of the first rotating shaft 14. This ensures that the first rotating shaft 14 does not separate from the bushing 4 and the fixed rudder surface 7, so that the first rotating shaft 14 always rotates relative to the fixed rudder surface 7.

[0043] like Figure 3 and Figure 5As shown, a fan-shaped groove 1403 is provided at the other end of the ball head portion 1401. The plate-shaped portion 901 of the rectangular connecting rod 9 is embedded in the fan-shaped groove 1403. The upper and lower surfaces of the plate-shaped portion 901 of the rectangular connecting rod 9 conform to the groove wall of the fan-shaped groove 1403.

[0044] Specifically, the right section of the plate-shaped portion 901 of the rectangular connecting rod 9 engages with the sector-shaped groove 1403 on the folding rudder surface 3, ensuring that the folding rudder surface 3 rotates synchronously with the rectangular connecting rod 9 without external force. Since the engagement between the rectangular connecting rod 9 and the sector-shaped groove 1403 of the folding rudder surface 3 acts as a limiting mechanism, the assembled rudder surface can only rotate around the rudder shaft and pin 8 when the folding rudder surface 3 rotates to the same plane as the fixed rudder surface 7, i.e., when the hinge axes at both ends are coaxial. This prevents the folding rudder surface 3 from malfunctioning.

[0045] like Figure 1 As shown, a pin hole 902 is provided on the plate-shaped portion 901 of the rectangular connecting rod 9, and a pin 8 is provided between the groove walls of the fan-shaped groove 1403, with the pin 8 inserted into the pin hole.

[0046] Preferably, a servo compartment 2 is provided on the folding wing surface 1, and one end of the folding servo surface 3 extends into the servo compartment 2. One end of the fixed servo surface 7 is rotatably mounted on the fixed wing surface 12. The one end of the folding servo surface 3, the one end of the fixed servo surface 7, and the pin 8 are all on the same axis.

[0047] Specifically, the folding control surface 3, the pin 8, and the rectangular connecting rod 9 form a rotating joint between the two control surfaces. This rotating joint rotates around the rudder shaft. The upper shaft of the folding control surface 3 is installed inside the rudder compartment 2, forming a hinged support; the lower shaft of the fixed control surface 7 is installed on the fixed wing surface 12, forming a hinged support. The upper and lower shafts are on the same axis, forming the rudder shaft. The pin hole 902 of the rectangular connecting rod 9 is coaxial with the rudder shaft. The rotating joint formed by the pin 8 and the pin hole 902 of the rectangular connecting rod 9 can serve as a central support for the control surface, increasing the support rigidity of the control surface. In this way, the folding control surface 3 and the fixed control surface 7 can rotate around the rudder shaft and the pin hole 902 of the rectangular connecting rod 9. In addition, the plane of the pin hole 902 of the rectangular connecting rod 9 is perpendicular to the rudder shaft. The axis of the round pin portion 902 of the rectangular connecting rod 9 is the same straight line as the axis of the rotating shaft 11. The plate-shaped portion 901 of the rectangular connecting rod 9 fits into the rectangular groove on the folding wing surface 1, which can transmit torque and ensure that the rectangular connecting rod 9 rotates synchronously with the folding wing surface 1. Furthermore, since the plate-shaped portion 901 of the rectangular connecting rod 9 fits into the fan-shaped groove 1403 of the folding rudder surface 3, the synchronous rotation of the folding wing surface 1 and the folding rudder surface 3 can be achieved without external force.

[0048] In this folding structure, the axis of rotation of the pivot 11 between the two wing surfaces, the sleeve and bushing connected to the folding wing surface 1, the first bushing 15 connected to the fixed control surface 7, the first pivot 14 on the folding control surface 3, and the cross-sectional axis of the round pin portion 903 of the rectangular connecting rod 9 are all coaxial, ensuring that the folding control surface 3 rotates synchronously with the folding wing surface 1. The axis of the pin hole on the rectangular connecting rod 9 is perpendicular to the above-mentioned axes, and the axis of the pin hole is coaxial with the control shaft, ensuring that the fixed control surface 7 and the folding control surface 3 can rotate synchronously around the control shaft. In addition, a ball socket is provided near the ball head portion 1401 on the folding wing surface 1. This ball socket can form a ball joint with the ball head portion 1401, which can realize rotation around the pin 8 and rotation around the control shaft, facilitating the separation of the folding control surface 3 and the folding wing surface 1 during assembly or maintenance.

[0049] In summary, the folding mechanism includes a folding wing surface 1 and a fixed wing surface 12 that rotate relative to each other, and a folding control surface 3 and a fixed control surface 7. Since the folding wing surface 1 and the folding control surface 3 rotate with a coaxial pivot 11 and a bushing structure, the folding control surface 3 rotates synchronously with the folding wing surface 1 when the folding wing surface 1 is folded or unfolded relative to the fixed wing surface 12. Since one end of the pivot of the folding control surface 3 extends into the servo compartment 2, and one end of the pivot of the fixed control surface 7 is hinged to the fixed wing surface 12, the end pivots 11 of the two control surfaces are set along the same axis, and this axis is also set along the same axis as the pin 8. Thus, when the folding control surface 3 rotates around the pin 8 with the first pivot 14, the folding control surface 3 and the fixed control surface 7 can achieve synchronous deflection relative to the wing surface.

[0050] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A mechanism for synchronous folding of wing surfaces and control surfaces of a cross-domain aircraft, characterized in that, include: A pivot (11) is provided between the folding wing surface (1) and the fixed wing surface (12), wherein the folding wing surface (1) is folded and flipped relative to the fixed wing surface (12) with the pivot (11) as the axis; A bushing structure is provided between the folding rudder surface (3) and the fixed rudder surface (7), wherein the folding rudder surface (3) is folded and flipped relative to the fixed rudder surface (7) with the bushing structure as the axis; The rotating shaft (11) and the bushing structure are arranged along the same axis; A rectangular connecting rod (9) has a plate-shaped end. One end of the rectangular connecting rod (9) is connected to the bushing structure via a pin (8). The other end of the rectangular connecting rod (9) is connected to the rotating shaft (11). The pin (8) is perpendicular to the plane where the plate-shaped part (901) of the rectangular connecting rod (9) is located. The folding rudder surface (3) deflects relative to the folding wing surface (1) with the pin (8) as the axis. The bushing structure includes a first rotating shaft (14) and a first bushing (15). The first rotating shaft (14) includes a ball head portion (1401) and a rotating shaft portion (1402) connected to each other. The axis of the rotating shaft portion (1402) passes through the center of the ball head portion (1401). The ball head portion (1401) is connected to the folding rudder surface (3), the first bushing (15) is connected to the fixed rudder surface (7), the rotating shaft portion (1402) is rotatably connected to the first bushing (15) through the bushing (4), and the outer surface and inner surface of the bushing (4) are rotatably fitted to the inner side of the first bushing (15) and the outer side of the rotating shaft portion (1402), respectively. The other end of the ball head portion (1401) is provided with a fan-shaped groove (1403), and the plate-shaped portion (901) of the rectangular connecting rod (9) is embedded in the fan-shaped groove (1403). The two side surfaces of the plate-shaped portion (901) of the rectangular connecting rod (9) conform to the groove wall of the fan-shaped groove (1403). The plate-shaped portion (901) of the rectangular connecting rod (9) has a pin hole (902), and the pin (8) is rotatably arranged between the groove walls of the fan-shaped groove (1403), and the pin (8) is inserted into the pin hole (902).

2. The synchronous folding mechanism for the wing and control surfaces of a cross-domain aircraft according to claim 1, characterized in that, The rotating shaft (11) is connected to the fixed wing surface (12) by screws. A sleeve (13) is provided on the folding wing surface (1). The sleeve (13) is sleeved on the end of the rotating shaft (11). The rotating shaft (11) and the sleeve (13) rotate and cooperate with each other.

3. The synchronous folding mechanism for the wing and control surfaces of a cross-domain aircraft according to claim 2, characterized in that, The folding wing surface (1) has a rectangular groove at one end near the sleeve (13). The rectangular groove is connected to the central hole of the sleeve (13). The cross-section of the plate-shaped part (901) of the rectangular connecting rod (9) matches the cross-section of the rectangular groove. When the plate-shaped part (901) of the rectangular connecting rod (9) passes through the rectangular groove, the other end of the rectangular connecting rod (9) is rotatably disposed in the central hole of the rotating shaft (11).

4. The synchronous folding mechanism for the wing and control surfaces of a cross-domain aircraft according to claim 3, characterized in that, The other end of the rectangular connecting rod (9) is connected to the center hole of the rotating shaft (11) through the connecting rod locking nut (10), and the other end of the rectangular connecting rod (9) can rotate 360° in the center hole of the rotating shaft (11).

5. The synchronous folding mechanism for the wing and control surfaces of a cross-domain aircraft according to claim 1, characterized in that, The first bushing (15) is also provided with a tail cone (6), one end of which is provided with an installation hole. The end of the rotating shaft part (1402) is inserted into the installation hole and connected by the bushing locking nut (5).

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