Morphing wing device integrating sweepback changing and dihedral angle changing functions

Abstract

The invention discloses a morphing wing device integrating variable sweepback and variable dihedral angle functions. The morphing wing device comprises two actuating mechanisms, the actuating mechanism comprises a metamorphic mechanism and a wing connecting assembly; the metamorphic mechanism comprises an input semi-ring and an output semi-ring, and each of the input semi-ring and the output semi-ring comprises a first short rod, a second short rod and a long rod; one joint in the input half ring is a coupling joint, the corresponding joint in the output half ring is a coupling joint, and the other four joints are revolute pairs; in the input semi-ring, the first short rod and the long rod are driven by a driving device to open and close; the wing connecting assembly comprises four hooke joints and two guide rods, the two hooke joints are arranged at joints between the first short rod and the second short rod respectively, and the other two hooke joints are arranged on the two long rods respectively; the guide rod is parallel to the longitudinal axis of the wing; fixed connecting blocks, sliding connecting blocks and sliding connecting grooves are fixedly arranged on the lower surfaces of the wings; the front guide rod penetrates through the fixed connecting block and the sliding connecting block; the sliding connection groove is located between the two hooke joints on the rear guide rod.

Description

Technical Field

[0001] This invention belongs to the field of aerospace technology, specifically relating to a variator wing device that integrates variable sweep and variable dihedral functions. Background Technology

[0002] Conventional fixed-wing aircraft face the technical challenge of balancing aerodynamic efficiency and maneuverability. The fixed wing geometry of traditional aircraft makes it difficult to adapt to the demands of different flight phases, such as takeoff, landing, cruise, and maneuvering. Existing vari-wing designs, such as the variable sweep wing used in the F-111 fighter jet, while solving the high-speed cruise problem, have limited functionality and cannot adjust parameters like dihedral. To achieve more than one variability (such as simultaneous variable sweep and dihedral), current technological approaches must rely on two or more independent drive and actuation systems. This results in an extremely redundant, heavy, and complex structure, severely impacting the aircraft's payload and reliability.

[0003] In existing technologies, there are single-function variator wings and multi-mode variator wings with multiple actuators. The single-function variator wing is the most mature solution. Its implementation involves setting a complex, high-strength pivot or hydraulic mechanism at the wing root to change a single wing parameter. Examples of its applications include the variable sweep angle mechanism used in military aircraft such as the F-111 and MiG-23; and the dihedral wing device researched by research institutions such as the University of Florida. Its disadvantage is its limited functionality, preventing it from achieving multiple functions in one aircraft. This is because the actuation mechanism is specifically designed for a single variability target. Its mechanical pivot structure dictates that it can only achieve variable sweep angle, not dihedral. To achieve both functions simultaneously using existing technologies, two independent actuation systems must be installed, which is virtually impossible in terms of space, weight, and control.

[0004] The implementation scheme for multi-drive, multi-mode variator wings involves employing multiple independent drive systems to achieve multi-functionality. For example, one motor system controls the sweep angle, while another hydraulic or motor system controls the dihedral angle. Such schemes are mostly in the research stage due to their complexity and weight, making them difficult to engineer. Their disadvantages include structural redundancy, heaviness, and complexity. Because this scheme relies on multiple drives to achieve multi-functionality, it not only increases the overall weight and complexity of the system but also increases energy consumption and potential points of failure. This approach of functional superposition violates the core design principle of lightweight aircraft.

[0005] Therefore, how to design a compact, lightweight, and highly integrated variant wing device has become a problem that the industry needs to solve. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the main objective of this invention is to provide a vari-wing device that integrates variable sweep and dihedral functions, enabling it to achieve both variable sweep and dihedral functions using only a single drive source. To achieve the above-mentioned main objectives, the present invention discloses a variable wing device that integrates variable sweep and variable dihedral functions. The variable wing device includes: two wings, a drive device, and two actuation mechanisms. The drive unit is located on the fuselage between the two wings; The two actuation mechanisms are chiral and symmetrical, with each actuation mechanism correspondingly located at the root of one of the undersides of the wing; the actuation mechanisms include: The variable-cell mechanism is a centrally symmetrical six-bar linkage, comprising an input half-ring and an output half-ring. Both the input and output half-rings include a first short rod, a second short rod, and a long rod, with the second short rod and the long rod respectively connected to the two ends of the first short rod. The joint between the long rod and the second short rod is a coupling joint, and the other four joints are revolute joints. In the input half-ring, the first short rod and the long rod are driven to open and close by a driving device. The wing connection assembly includes four Hooke hinges and two guide rods. Each Hooke hinge comprises a cylindrical portion, and each guide rod passes through two cylindrical portions. Two Hooke hinges are respectively located at the joints between a first short rod and a second short rod, while the other two Hooke hinges are respectively located on two long rods (not at the ends, but for example, in the middle of the long rods). The guide rods are parallel to the longitudinal axis of the wing, and the two guide rods are the front guide rod and the rear guide rod. A fixed connecting block, a sliding connecting block, and a sliding connecting groove are fixedly provided on the lower surface of the wing. Both the fixed connecting block and the sliding connecting block have through holes, and the front guide rod passes through both the fixed connecting block and the sliding connecting block. The cylindrical portion of the Hooke hinge at the proximal end of the front guide rod is fixedly connected to the fixed connecting block. The sliding connecting groove is a long strip block with a long through-hole groove. The sliding connecting groove is located between the two Hooke hinges on the rear guide rod, and the rear guide rod passes through the long through-hole groove.

[0007] In this invention, the two wings are the left wing and the right wing.

[0008] In this invention, the variable-cell mechanism is a line-symmetric Bricard 6R mechanism. This mechanism ingeniously combines the kinematic characteristics of two four-bar linkages in its topological structure: Mode 1 (Equilateral Bennett configuration): Spatial four-bar configuration, used to achieve variable dihedral adjustment of the wing.

[0009] Mode 2 (parallelogram configuration): a planar four-bar configuration used to achieve variable sweep angle adjustment of the wing.

[0010] In this invention, when the variable cell mechanism is in the equilateral Bennett configuration, in the input semi-ring, the first short rod and the second short rod are collinear, forming one side, and the long rod forms another side, making the entire input semi-ring V-shaped; similarly, the entire output semi-ring is V-shaped; the variable cell mechanism as a whole is a double V-shaped spatial structure.

[0011] When the variable-cell mechanism is in a parallelogram configuration, the first short rod forms the short side of the parallelogram; the second short rod is collinear with the long rod and forms the long side of the parallelogram; the variable-cell mechanism as a whole is a planar parallelogram.

[0012] In this invention, the proximal end refers to the end closer to the fuselage.

[0013] In this invention, the wing connection assembly is used to precisely transmit the motion of the variable cell mechanism to the wing, ensuring that the wing can be precisely constrained in two distinct motion modes.

[0014] Through the aforementioned mechanical structure assembly, when the drive device is working, it drives the two variable cell mechanisms to move.

[0015] 1. When the variable cell mechanism is in a parallelogram configuration, the wing moves in the horizontal plane, causing the wing sweep angle to be continuously adjusted.

[0016] 2. When the variable-cell mechanism is in the Bennett configuration, the variable-cell mechanism performs spatial motion, causing the dihedral angle of the wing to be continuously adjusted.

[0017] 3. The switching between the two configurations can be achieved by moving the mechanism to the bifurcation point, assisted by active (such as springs or magnetic force) or passive (such as using pneumatic loads) energy.

[0018] It should be noted that configuration switching can only occur when the drive unit has zero output (the X-link mechanism mentioned later is at its compression pole) and the variable-cell mechanism is at its motion bifurcation point. In the initial state of the wing, the variable-cell mechanism is in a Bennett configuration, maintained by the weight of the links and the springs; at this time, the power unit adjusts the wing's dihedral angle. As the aircraft's speed increases, its drag increases, overcoming the weight of the links and the spring force, and it automatically switches to a parallelogram configuration; at this time, the power unit adjusts the wing's sweep angle.

[0019] For a compliant switching method between parallelogram and Bennett configurations, and a detailed description of the coupling joint, please refer to another invention previously filed by the applicant, 202511479471.X (Compliant Control Method for Combined Six-Bar Multi-Variable Cell Mechanism).

[0020] According to one specific embodiment of the present invention, the sum of the lengths of the first short rod and the second short rod is equal to the length of the long rod.

[0021] According to one specific embodiment of the present invention, the coupled joint includes two revolute joints coupled to each other, and the axes of the two revolute joints are perpendicular to each other. The coupled joint includes two degrees of freedom; due to the geometric constraints of the joint, the range of motion of one degree of freedom is determined by the position of the other degree of freedom.

[0022] According to a specific embodiment of the present invention, the driving device includes a power unit and an X-shaped linkage mechanism; the power output end of the power unit drives the X-shaped linkage mechanism to extend and retract back and forth; X-shaped linkage output ends are provided on both the left and right sides of the X-shaped linkage mechanism; in the input half-ring, the first short rod and the long rod are driven to open and close by the X-shaped linkage output ends on the same side.

[0023] In this scheme, the power unit does not directly drive the variable-cell mechanism, but instead drives the X-shaped linkage mechanism to extend or retract synchronously, for example, by driving a lead screw; the X-shaped linkage mechanism then transmits the motion synchronously and symmetrically to the variable-cell mechanisms on the left and right sides, thereby achieving symmetrical deformation of the wings on both sides.

[0024] According to a specific embodiment of the present invention, the output end of the X-shaped linkage includes two drive rods; in the input semi-ring, both the first short rod and the long rod are provided with hinge points; the outer ends of the two drive rods are hinged to each other, and the two inner ends are respectively hinged to the hinge points on the first short rod and the long rod.

[0025] According to a specific embodiment of the present invention, the power device includes a stepper motor, a reducer, and a lead screw; the output end of the stepper motor is connected to the reducer, and the reducer is connected to the lead screw; the lead screw drives the X-shaped linkage mechanism to extend and retract back and forth.

[0026] According to a specific embodiment of the present invention, the Hooke hinge includes a rotating base and a cylindrical part. The rotating base is provided with a back plate, and a mounting shaft is provided in the center of the inner side of the back plate. The cylindrical part has a mounting hole in its cylindrical wall, and the mounting hole is fitted onto the mounting shaft.

[0027] According to a specific embodiment of the present invention, a torsion spring is provided between the first short rod and the second short rod in the input half-ring and / or the output half-ring to maintain a flat angle. The initial state of the variable-cell mechanism is the Bennett configuration. The torsion spring maintains the angle between the first and second short rods. When the aircraft flies at high speed, the aerodynamic drag increases, overcoming the weight of the rods and the elastic force of the torsion spring, causing the angle between the first and second short rods to decrease, thus entering a parallelogram configuration. When the aircraft speed decreases, under the action of the weight of the rods and the elastic force of the torsion spring, the variable-cell mechanism enters the Bennett configuration. In short, gravitational potential energy and elastic potential energy jointly maintain the Bennett configuration. When the aerodynamic drag overcomes the gravitational potential energy and elastic potential energy, the variable-cell mechanism enters the parallelogram configuration.

[0028] The present invention has the following beneficial effects: 1. Dual-function characteristic: This invention utilizes the dual configuration characteristic of the Bricard mechanism and designs it as a symmetrical structure, thereby realizing both variable sweep angle and variable anti-angle functions with a single device.

[0029] 2. Significantly Lightweight and Compact Structure: Compared to traditional solutions requiring two drive systems, this invention employs an innovative transmission scheme with a single drive source and an X-shaped connecting rod. This scheme combines drive and symmetrical coupling functions into one, resulting in an extremely compact structure that significantly reduces system weight, cost, and energy consumption.

[0030] 3. High Precision and Reliability: The specific connection assembly of guide rod + Hooke hinge + slide groove used in this invention provides precise and reliable motion constraints for the wing in two distinct motion modes. Experiments have shown that the actual motion of the wing deviates very little from the theoretical value in both modes.

[0031] To more clearly illustrate the purpose, technical solution, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the equilateral Bennett configuration of the variable cellular mechanism in Example 1; Figure 2 This is a schematic diagram of the parallelogram configuration of the variable cell mechanism in Example 1; Figure 3 This is a schematic diagram of the right wing and actuation mechanism in Embodiment 1 (mainly from a top view). Figure 4 This is a structural schematic diagram of the right wing in Embodiment 1 (mainly viewed from a low angle). Figure 5 This is a schematic diagram of the right wing and actuation mechanism in Embodiment 1 (mainly viewed from a low angle). Figure 6 This is an exploded view of the Hooke's hinge in Example 1; Figure 7 This is an assembly diagram of the Hooke's joint and the guide rod in Example 1; Figure 8 This is a schematic diagram of the compliant motion branching method in Example 1; Figure 9 This is a schematic diagram of the X-shaped linkage mechanism and the variable-cell mechanism in Embodiment 2; Figure 10 This is a schematic diagram of the X-shaped linkage mechanism and the variable-cell mechanism from another angle in Embodiment 2; Figure 11 This is the experimental angle relationship diagram of the variable sweep angle wing in Example 3. SW-Angle represents the sweep angle, T is the theoretical value, and E is the experimental value. Figure 12 This is a diagram showing the experimental angle relationship of the variable dihedral wing in Example 3. AN-Angle represents the dihedral angle, T is the theoretical value, and E is the experimental value. Detailed Implementation

[0033] Many specific details are set forth in the following description in conjunction with embodiments in order to provide a full understanding of the invention. However, it should be understood that the following embodiments and detailed descriptions are for illustrative purposes only and do not limit the scope of protection of the invention.

[0034] Example 1

[0035] like Figures 1-8 As shown, this embodiment provides a variator wing device integrating variable sweep and dihedral functions. The variator wing device includes: two wings 1, a drive unit, and two actuation mechanisms. The drive unit is located on the fuselage between the two wings; the two actuation mechanisms are chirally symmetrical, with each actuation mechanism correspondingly disposed at the root of the underside of one wing; the actuation mechanism includes a variable cell mechanism 2 and a wing connection assembly 3.

[0036] Variable-cell mechanism 2 is a line-symmetric Bricard 6R mechanism. This mechanism cleverly combines the kinematic characteristics of two four-bar mechanisms in its topological structure: Mode 1 (equilateral Bennett configuration, such as...) Figure 1 (As shown): Spatial four-bar configuration, used to achieve variable dihedral adjustment of the wing.

[0037] Pattern 2 (parallelogram configuration, such as...) Figure 2 As shown): a planar four-bar configuration, used to achieve variable sweep angle adjustment of the wing.

[0038] The variable-cell mechanism 2 is a centrally symmetrical ring-shaped six-bar linkage, comprising an input half-ring 21 and an output half-ring 22. Both the input half-ring 21 and the output half-ring 22 include a first short rod 201, a second short rod 202, and a long rod 203. The second short rod 202 and the long rod 203 are respectively connected to the two ends of the first short rod 201; the sum of the lengths of the first short rod 201 and the second short rod 202 is equal to the length of the long rod 203. The joint between the long rod 203 and the second short rod 202 is a coupling joint 204, and the remaining four joints are revolute joints 205. In the input half-ring 21, the first short rod 201 and the long rod 203 are driven to open and close by a driving device. The coupling joint 204 includes two mutually coupled revolute joints, and the axes of the two revolute joints are perpendicular to each other. Figure 8 As shown, the coupling joint 204 includes two degrees of freedom. In the input half-ring 21 and the output half-ring 22, a torsion spring (not shown) is provided between the first short rod 201 and the second short rod 202 to maintain a flat angle.

[0039] The wing connection assembly 3 includes four Hooke hinges 31 and two guide rods 32. For example... Figure 6 As shown, the Hooke hinge 31 includes a rotating base 311 and a cylindrical part 312. The rotating base 311 is provided with a back plate 313. A circular hole 314 for mounting a shaft is provided at the center of the inner side of the back plate 313. The cylindrical wall of the cylindrical part 312 is provided with a mounting hole 315, which is fitted onto the mounting shaft. Each guide rod 32 passes through two cylindrical sections; two Hooke hinges 31 are respectively located at the joints between the first short rod 201 and the second short rod 202, and two other Hooke hinges 31 are respectively located on two long rods 203; the guide rods 32 are parallel to the longitudinal axis of the wing 1, and the two guide rods 32 are the front guide rod 321 and the rear guide rod 322; a fixed connecting block 11, a sliding connecting block 12, and a sliding connecting groove 13 are fixedly provided on the lower surface of the wing 1; both the fixed connecting block 11 and the sliding connecting block 12 have through holes, and the front guide rod 321 passes through the fixed connecting block 11 and the sliding connecting block 12; the cylindrical section of the Hooke hinge 31 at the proximal end of the front guide rod is fixedly connected to the fixed connecting block 11; the sliding connecting groove 13 is a long strip block with a long through hole groove 131 on it; the sliding connecting groove 13 is located between the two Hooke hinges 31 on the rear guide rod 322, and the rear guide rod 322 passes through the long through hole groove 131.

[0040] The drive unit includes a power unit and an X-shaped linkage mechanism; the power output end of the power unit drives the X-shaped linkage mechanism to extend and retract back and forth; X-shaped linkage output ends are provided on both the left and right sides of the X-shaped linkage mechanism; in the input half-ring, the first short rod and the long rod are driven to open and close by the X-shaped linkage output ends on the same side. The X-shaped linkage output ends include two drive rods 401; in the input half-ring 21, the first short rod 201 and the long rod 203 are both provided with hinge points 208; the outer ends of the two drive rods 401 are hinged to each other, and the two inner ends are respectively hinged to the hinge points 208 on the first short rod 201 and the long rod 203.

[0041] The power unit includes a stepper motor, a reducer, and a lead screw; the output end of the stepper motor is connected to the reducer, the reducer is connected to the lead screw, and the lead screw nut at the end of the lead screw drives the X-shaped linkage mechanism to extend and retract back and forth.

[0042] Example 2

[0043] This embodiment provides a specific structure of the X-shaped linkage mechanism 5, such as... Figures 9-10 As shown, the left and right output ends of the X-shaped linkage mechanism 5 are connected to the variable cell mechanism 6. Two connecting parts 701 and 702 are provided below the X-shaped linkage mechanism 5, which are respectively connected to the motor housing and the lead screw nut of the power unit.

[0044] Example 3

[0045] This embodiment demonstrates the specific implementation of the present invention through application verification on a Cessna 182plus fixed-wing model aircraft. This embodiment installs the parts of Embodiment 1, excluding the wings (hereinafter collectively referred to as the "adjustment assembly"), onto the Cessna 182plus fixed-wing model aircraft.

[0046] Installation and setup: a. Aircraft modification: Modify the mid-fuselage and wing roots of the Cessna 182plus model aircraft. Remove the original structure and install a base in the mid-fuselage to secure the adjustment assembly.

[0047] b. Assembly Installation: Install the adjustment device assembly on the aforementioned base. This assembly includes: a power unit (including a stepper motor, reducer, and lead screw), an X-shaped linkage mechanism, two chiral symmetrical variable cell mechanisms, and a wing connection assembly.

[0048] c. Materials and Parameters: To achieve lightweight design, the main body of the variable-cell mechanism's connecting rods is made of carbon fiber sheet, while the connecting parts that determine the joint torsion angle are made of aluminum alloy. Joints are secured with plug bolts and connected to the rods via brass bushings or flange bearings to balance precision and low frictional resistance. To accommodate model aircraft installation, the Bennett configuration torsion angle of the variable-cell mechanism is designed to be 20 degrees.

[0049] d. Implementation of the wing connection assembly: In this embodiment, the connection and constraint of the wing are key to achieving dual-mode motion. The wing connection assembly includes four Hooke hinges and two guide rods (front guide rod and rear guide rod).

[0050] e. Connection of guide rods to the mechanism: The variable-structure mechanism is connected to two guide rods via four Hooke hinges. To prevent over-constraint of motion, the two Hooke hinges of the front guide rod are allowed to slide along the front guide rod.

[0051] f. Connection between the guide rod and the wing: The wing body is mounted to the guide rod using a specific constraint method. The wing is connected to the front guide rod simultaneously via a fixed connecting block and a sliding connecting block. This combination of one fixed point and one sliding point mechanically defines the front guide rod as the sole axis of rotation of the wing, thereby restricting all other degrees of freedom of the wing. Simultaneously, a sliding connecting groove is provided on the wing body, within which the rear guide rod slides freely.

[0052] g. Working principle of the connecting assembly: This connection method allows the front guide rod to act as the main pivot and the rear guide rod to act as a path follower. When the dihedral angle changes, the rear guide rod slides in the groove to match the rotation of the front guide rod; when the sweep angle changes, the two rods translate together, driving the rigid wing to move.

[0053] Operational steps (implementing variable sweep angle) a. Switching configurations: Ensure that the variable cellular mechanism is in the parallelogram motion branch.

[0054] b. Drive: Start the stepper motor, the lead screw rotates, driving the X-shaped linkage mechanism to extend or retract.

[0055] c. Deformation: The X-shaped linkage mechanism drives two symmetrical variable-cell mechanisms to move in a parallelogram configuration. The front and rear guide rods drive the entire wing assembly to translate in the horizontal plane, achieving changes in the sweep angle.

[0056] d. Effect: When the drive conversion angle θ1 (the angle between the long rod and the first short rod in the input half-ring, the same below) changes from 30 degrees to 70 degrees, the sweep angle increases linearly from 15 degrees to 35 degrees (e.g., Figure 11 (As shown).

[0057] Operating steps (implementing the downward reverse angle): a. Switch configuration: Ensure that the cellular mechanism switches to the Bennett motion branch.

[0058] b. Drive: Start the same stepper motor to drive the X-shaped linkage mechanism to extend or retract.

[0059] c. Deformation: The X-shaped linkage mechanism drives two symmetrical variable-cell mechanisms to perform spatial motion in the Bennett configuration. The torsional motion output by the variable-cell mechanism is converted into the wing's rotation around its axis by the front guide rod, while the rear guide rod slides in a groove to match this spatial motion.

[0060] d. Effect: When the drive conversion angle θ1 changes from 30 degrees to 70 degrees, the wing dihedral angle increases linearly from 7 degrees to 12 degrees (e.g., Figure 12 (As shown).

[0061] Implementation of configuration switching: In this embodiment, the switching between the two modes is achieved with energy assistance. For example, during flight, as the aircraft accelerates, the aerodynamic drag on the wings increases. When the variable-cell mechanism moves to the bifurcation region, this increased aerodynamic drag is used as an active control force. This force overcomes the mechanism's original potential energy (gravitational potential energy and spring potential energy), pushing the mechanism to switch from the variable anti-angle mode to the variable sweep angle mode, thereby achieving automatic drag reduction for the aircraft during high-speed cruise. Conversely, when decelerating, gravity and spring forces are used to achieve the reverse switching.

[0062] Although the present invention has been described above by way of embodiments, the above embodiments are only used to exemplify possible implementations of the present invention and are not intended to limit the scope of protection of the present invention. Any equivalent substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the scope of protection defined by the claims of the present invention.

Claims

1. A variator wing device integrating variable sweep and dihedral functions, characterized in that, The variant wing device includes: two wings, a drive unit, and two actuation mechanisms; The drive unit is located on the fuselage between the two wings; The two actuation mechanisms are chirally symmetrical, and each actuation mechanism is correspondingly disposed at the root of the underside of one of the wings; the actuation mechanisms include: The variable-cell mechanism is a centrally symmetrical ring-shaped six-bar linkage, comprising an input half-ring and an output half-ring. Both the input and output half-rings include a first short rod, a second short rod, and a long rod. The second short rod and the long rod are respectively connected to the two ends of the first short rod. The joint between the long rod and the second short rod is a coupling joint, and the other four joints are revolute joints. In the input half-ring, the first short rod and the long rod are driven to open and close by the driving device. A wing connection assembly includes four Hooke hinges and two guide rods. Each Hooke hinge includes a cylindrical portion, and each guide rod passes through two of the cylindrical portions. Two Hooke hinges are respectively located at the joints between the first short rod and the second short rod, and the other two Hooke hinges are respectively located on two long rods. The guide rods are parallel to the longitudinal axis of the wing, and the two guide rods are a front guide rod and a rear guide rod. A fixed connecting block, a sliding connecting block, and a sliding connecting groove are fixedly provided on the lower surface of the wing. Both the fixed connecting block and the sliding connecting block have through holes, and the front guide rod passes through the fixed connecting block and the sliding connecting block. The cylindrical portion of the Hooke hinge at the proximal end of the front guide rod is fixedly connected to the fixed connecting block. The sliding connecting groove is a long strip block with a long through-hole groove. The sliding connecting groove is located between the two Hooke hinges on the rear guide rod, and the rear guide rod passes through the long through-hole groove.

2. The variator wing device according to claim 1, characterized in that, The sum of the lengths of the first short rod and the second short rod is equal to the length of the long rod.

3. The variator wing device according to claim 1, characterized in that, The coupling joint includes two rotating joints that are coupled to each other, and the axes of the two rotating joints are perpendicular to each other.

4. The variator wing device according to claim 1, characterized in that, The driving device includes a power unit and an X-shaped linkage mechanism; the power output end of the power unit drives the X-shaped linkage mechanism to extend and retract back and forth; the X-shaped linkage mechanism has X-shaped linkage output ends on both the left and right sides; in the input semi-ring, the first short rod and the long rod are driven to open and close by the X-shaped linkage output ends on the same side.

5. The variator wing device according to claim 4, characterized in that, The X-shaped linkage output end includes two drive rods; in the input semi-ring, the first short rod and the long rod are both provided with hinge points; the outer ends of the two drive rods are hinged to each other, and the two inner ends are respectively hinged to the hinge points on the first short rod and the long rod.

6. The morphing wing device according to claim 4, characterized in that, The power unit includes a stepper motor, a reducer, and a lead screw; the output end of the stepper motor is connected to the reducer, and the reducer is connected to the lead screw; the lead screw drives the X-shaped linkage mechanism to extend and retract back and forth.

7. The morphing wing device according to claim 1, characterized in that, The Hooke hinge includes a rotating base and a cylindrical part. The rotating base is provided with a back plate, and a mounting shaft is provided in the center of the inner side of the back plate. The cylindrical part has a mounting hole in its wall, and the mounting hole is fitted onto the mounting shaft.

8. The variator wing device according to claim 1, characterized in that, In the input half-ring and / or the output half-ring, a torsion spring for maintaining a flat angle is provided between the first short rod and the second short rod.

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