CN108482645A - A kind of deformation wing mechanism based on scissor linkage skeleton with sliding covering - Google Patents

Abstract

A deformed wing mechanism based on a scissor linkage frame and a sliding skin, which relates to the technical field of aerospace equipment and equipment. The invention solves the problem that the existing deformable wing has single deformation function, can only realize one deformation among variable sweep, variable area and variable length, and cannot realize the folding of the rigid skin of the wing. The present invention comprises a scissor linkage framework, a driving device and a sliding skin installed outside the scissor linkage framework, the sliding skin is fixedly installed on the scissor linkage framework, and the scissor linkage framework drives the sliding skin to realize layer-by-layer folding or unfolding, The driving device drives the scissor linkage frame to realize the folding and unfolding of the entire deformable wing mechanism. The present invention can realize the change of wing length, area and sweep angle through the action of this mechanism. The deformable wing mechanism can be used for deformation of aircraft wing parts. The invention can be used in the wing structures of various deformable aircrafts.

Description

A Deformable Wing Mechanism Based on Scissor Linkage Skeleton and Sliding Skin

technical field

The invention relates to the technical field of aerospace equipment and equipment, in particular to a deformed wing mechanism based on a scissors linkage skeleton and a sliding skin.

Background technique

Because the geometry of traditional aircraft is basically determined and unchanged, its system model is basically fixed. In the same atmospheric environment, it can only do some specific flights and complete some special tasks. As the application of aircraft in the military and civilian fields becomes more and more complex, there is an urgent need for a device that can have a larger flight airspace and speed range, can take into account high and low altitudes, high and low speeds, and even take off from the ground and fly through the atmosphere to perform various tasks. Aircraft for complex tasks such as reconnaissance and strike. It is difficult for traditional aircraft to adapt to such a wide range of changes in flight environment parameters and maintain excellent performance all the time. The deformable aircraft is a new concept of multi-purpose and multi-form aircraft, which can be adaptively deformed according to the needs of the flight environment, flight profile, and combat missions, so that the flight path, flight altitude, and flight speed can be maneuvered changeable and flexible. Freely, in order to play the best flight performance of the aircraft. Transformable aircraft can not only be applied to traditional civil aircraft and small unmanned aerial vehicles, making its economic benefits more prominent. Applying it to missiles in war can greatly improve the flight performance of missiles in fierce confrontation between the enemy and ourselves and in complex war environments, and realize precision strike combat capabilities.

It is precisely because of the attractive prospect of morphing aircraft that the National Aeronautics and Space Administration (NASA), the Defense Advanced Research Projects Agency (DARPA), the European Space Agency and other research institutions have set up special teams to conduct pre-research on it and have achieved results. many research results. At present, various principle prototypes have been designed and developed, and the deformed aircraft is mainly reflected in the application of various deformed fighter jets and cruise missiles. The F-111, F-14 fighter jets and B-1 bombers produced in the United States all have variable sweep capability, and the wingtips of the XB-70 supersonic bomber can be bent downward to create compression lift. In addition to the United States, Russia also has some variable-sweep aircraft, including MiG-23 fighter jets and Su-24 fighter-bombers. In addition, Britain, Germany and other countries have also invested heavily in research in the field of deformable aircraft.

At present, the deformation of the deformable aircraft is mainly reflected in the deformation of the wing, such as the change of the plane shape of the wing, including changing the area of the wing, changing the span of the wing, changing the sweep angle, etc.; also changing the chord length of the wing, changing the Airfoil camber, thickness, twist angle, etc. The deformation of this wing can improve the performance of the aircraft very well. When large drones or missiles fly at transonic speeds, the flight resistance can be reduced by changing the sweep angle; , Increase the sweep angle to achieve rapid strike when potential targets are found. The Tomahawk cruise missile uses variable-length wings, which can greatly increase the cruising range. The aerodynamic performance and maneuverability of medium and low-speed fighters and missiles can be better improved through the change of wing shape.

To sum up, the existing deformable wing has a single deformation function, which can only realize one of variable sweep, variable area and variable length, and cannot realize the folding of the rigid skin of the wing.

Contents of the invention

The purpose of the present invention is to solve the problem that the existing deformed wing has a single deformation function, and can only realize one of variable sweep, variable area and variable length, and cannot realize the folding of the rigid skin of the wing, and then provide a A deformable wing mechanism based on scissor linkage skeleton and sliding skin.

Technical scheme of the present invention is:

The scissor linkage skeleton includes a support seat, N bases, N support frames and N groups of shear hinge units of different lengths.

The N bases include the first base, the second base, the third base, the fourth base, ..., the Nth base, and the first base to the Nth base are evenly distributed on the supporting base in sequence from front to back,

The N supporting frames include the first supporting frame, the second supporting frame, the third supporting frame, the fourth supporting frame, ..., the Nth supporting frame, and the first supporting frame to the Nth supporting frame are sequentially connected from the outside to the inside The corresponding first base is rotationally connected to the Nth base, and the N supporting frames are arranged in parallel,

N groups of scissor hinge units include the first scissor hinge unit, the second scissor hinge unit, the third scissor hinge unit, the fourth scissor hinge unit, ..., the Nth scissor hinge unit, the N groups of scissor hinge units are arranged in parallel, the first The length from the first scissor hinge unit to the Nth scissor hinge unit increases successively from front to back,

The first scissor hinge unit includes two V-shaped scissor hinge assemblies, and each V-shaped scissor hinge assembly is composed of two rods hinged together in a V shape; the hinge of one V-shaped scissor hinge assembly is connected to the first support frame The corresponding parts are hinged, the hinge of the other V-shaped scissor hinge assembly is hinged with the support base or the corresponding second base, and the ends of the two V-shaped scissor hinge assemblies are hinged to each other to form a parallelogram connecting rod structure.

The second scissor hinge unit includes two V-shaped scissor hinge assemblies and an X-shaped scissor hinge assembly. The X-shaped scissor hinge assembly is composed of two rods hinged together in an X shape; The corresponding part of the first support frame is hinged, the hinge of the other V-shaped scissor hinge assembly is hinged with the support base or the corresponding third base, and the hinge of the X-shaped scissor hinge assembly is hinged with the corresponding part of the second support frame. The ends of the X-shaped scissor hinge assembly are respectively hinged with the ends of the two V-shaped scissor hinge assemblies to form a parallelogram connecting rod structure.

The third scissor hinge unit includes two V-shaped scissor hinge assemblies and two X-shaped scissor hinge assemblies, wherein the hinge of one V-shaped scissor hinge assembly is hinged with the corresponding part of the first supporting frame, and the other V-shaped scissor hinge assembly The hinge is hinged with the support seat or the corresponding fourth base, and the hinges of the two X-shaped scissor hinge assemblies are respectively hinged with the corresponding parts of the second support frame and the third support frame. Between the two X-shaped scissor hinge assemblies They are hinged to form a parallelogram connecting rod structure, and the ends of the two X-shaped scissor hinge assemblies are respectively hinged with the ends of the two V-shaped scissor hinge assemblies to form a parallelogram connecting rod structure.

The fourth scissor hinge unit includes two V-shaped scissor hinge assemblies and three X-shaped scissor hinge assemblies, wherein the hinge of one V-shaped scissor hinge assembly is hinged with the corresponding part of the first supporting frame, and the other V-shaped scissor hinge assembly The hinges are hinged with the support seat or the corresponding fifth base, the hinges of the three X-shaped scissor hinge assemblies are respectively connected with the second support frame, the third support frame and the fourth support frame, and the three X-shaped scissor hinge assemblies are in turn Hinged to form a parallelogram connecting rod structure, the ends of the two X-shaped scissor hinge assemblies at the ends are respectively hinged with the ends of the two V-shaped scissor hinge assemblies to form a parallelogram connecting rod structure,

By analogy, the Nth scissor hinge unit includes two V-shaped scissor hinge assemblies and N-1 X-shaped scissor hinge assemblies, wherein the hinge of one V-shaped scissor hinge assembly is hinged with the corresponding part of the first supporting frame, and the other The hinge of the V-shaped scissor hinge assembly is hinged with the end of the support seat, and the hinges of N-1 X-shaped scissor hinge assemblies are respectively connected to the second support frame, the third support frame, the fourth support frame, ..., the Nth support frame The supporting frame, N-1 X-shaped scissor hinge assemblies are hinged in turn to form a parallelogram connecting rod structure, and the ends of the two X-shaped scissor hinge assemblies at the ends are respectively hinged with the ends of the two V-shaped scissor hinge assemblies to form parallelograms. The quadrilateral connecting rod structure realizes synchronous movement between N supporting frames through N sets of shear hinge units of different lengths.

Further, the scissor-fork linkage skeleton also includes N first hinges, and the N groups of scissor hinge units are respectively hinged to the support base or the corresponding base through the N first hinges.

Further, the scissor linkage framework further includes a plurality of second hinges, and each X-shaped scissor hinge assembly in the scissor hinge unit is hinged to the corresponding support framework through the second hinges.

Further, the scissor linkage framework further includes N third hinges, and the N support frameworks are respectively hinged to the N bases through the N third hinges.

Further, the scissor linkage framework further includes N fourth hinges, and the N sets of scissor hinge units are respectively hinged to the first supporting framework through the N fourth hinges.

Further, the sliding skin is composed of N skins arranged in layers, the lengths of the N skins are sequentially decreased from the outside to the inside, and two adjacent skins are slidingly connected, and the N skins include the first Skin, the second skin, the third skin, the fourth skin, ..., the Nth skin, the first skin to the Nth skin are respectively corresponding to the first support frame to the Nth support frame Fixed.

Further, the N skins are all rigid skins, and the gap between two adjacent skins is 0.5 mm.

Further, the drive device includes an electric push rod and two motor mounting plates, the base of the electric push rod is hinged to the wing body structure through one motor mounting plate, and the end of the electric push rod is hinged to the third support frame through another motor mounting plate.

Further, the degree of freedom of the deformable wing mechanism is 1.

Compared with the prior art, the present invention has the following effects:

1. The present invention can realize a wing skeleton with variable length and variable area while changing the sweep angle. The deformable wing mechanism of the present invention is composed of a deformable scissor linkage skeleton on the inside and a sliding skin on the outside. When the scissors When the linkage frame is deformed, the rigid skin riveted on the scissors linkage frame moves accordingly to realize the overall extension and retraction of the deformed wing mechanism. The action of this mechanism can realize the change of wing length, area and sweep angle. The deformable wing mechanism can be used for deformation of aircraft wing parts. Taking the deformed wing with a chord length of 15m and a stretched length of 3m in the folded state as an example, when the sweep angle is 30 degrees, the fold-to-span ratio can reach 69.3%.

2. The structure of the present invention is simple, the scissor linkage frame only includes a rotating pair and rods, the production and installation are relatively convenient, suitable for large-scale production and manufacturing, and the manufacturing cost is relatively low.

3. The present invention can convert the linear motion into the rotary motion of the support frame hinged with the end of the push rod by controlling the electric push rod to perform linear motion. Since the scissor hinge unit is connected with the support frame, the scissor hinge unit also follows the movement of the support frame. Rotate to perform telescopic movement, since all the supporting frames and scissor hinge units are connected together through the rotary pair, so by controlling the movement of the electric push rod, the telescopic movement of the entire structure can be controlled.

Description of drawings

Fig. 1 is a schematic structural view of the deformable wing mechanism of the present invention;

Fig. 2 is a schematic structural view of the scissors linkage skeleton;

Fig. 3 is a schematic diagram of the fully expanded state of the scissor linkage skeleton;

Fig. 4 is a schematic diagram of the fully folded state of the scissors linkage skeleton;

Fig. 5 is the structural representation of sliding skin;

Fig. 6 is a partial enlarged view at I of Fig. 5 .

Detailed ways

Specific Embodiment 1: This embodiment is described in conjunction with Fig. 1. A deformed wing mechanism based on the scissors linkage frame and the sliding skin in this embodiment includes a scissors linkage frame 1, a driving device and a scissors linkage frame 1 1 The external sliding skin 3, the sliding skin 3 is fixedly installed on the scissors linkage framework 1, the scissors linkage framework 1 drives the sliding skin 3 to realize layer by layer folding or unfolding, the driving device drives the scissors linkage framework 1 to realize the whole deformation Folding and unfolding of the wing mechanism.

Specific embodiment two: This embodiment is described in conjunction with Fig. 1 to Fig. 4, and the scissors linkage framework 1 of this embodiment comprises support seat 17, N bases, N support frames and N groups of scissor hinge units of different lengths (N The number can be selected according to the requirements of the wingspan area, and the modular design is adopted, the larger the wing area is, the larger N is),

The N bases include the first base 13, the second base 14, the third base 15, the fourth base 16, ..., the Nth base, and the first base 13 to the Nth base are evenly distributed on the supporting base from front to back 17 on,

The N supporting frames include a first supporting frame 11, a second supporting frame 10, a third supporting frame 9, a fourth supporting frame 8, ..., the Nth supporting frame, and the first supporting frame 11 to the Nth supporting frame are from outside to inside It is sequentially connected with the corresponding first base 13 to the Nth base in turn, and the N supporting frames are arranged in parallel,

N groups of scissor hinge units include the first scissor hinge unit 21, the second scissor hinge unit 20, the third scissor hinge unit 19, the fourth scissor hinge unit 18, ..., the Nth scissor hinge unit, between the N groups of scissor hinge units Arranged in parallel, the lengths of the first scissor hinge unit 21 to the Nth scissor hinge unit increase sequentially from front to back,

The first scissor hinge unit 21 includes two V-shaped scissor hinge assemblies, and each V-shaped scissor hinge assembly is composed of two rods hinged together in a V shape; The corresponding parts of 11 are hinged, and the hinge of the other V-shaped scissor hinge assembly is hinged with the support seat 17 or the corresponding second base 14, and the ends of the two V-shaped scissor hinge assemblies are hinged to each other to form a parallelogram connecting rod structure.

The second scissor hinge unit 20 includes two V-shaped scissor hinge assemblies and an X-shaped scissor hinge assembly. The X-type scissor hinge assembly is composed of two rods hinged together in an X shape; It is hinged with the corresponding part of the first supporting frame 11, the hinge of another V-shaped scissor hinge assembly is hinged with the support base 17 or the corresponding third base 15, and the hinge of the X-shaped scissor hinge assembly is hinged with the second support frame 10. The corresponding parts of the X-shaped scissor hinge assembly are respectively hinged with the ends of the two V-shaped scissor hinge assemblies to form a parallelogram connecting rod structure.

The third scissor hinge unit 19 includes two V-shaped scissor hinge assemblies and two X-shaped scissor hinge assemblies, wherein the hinge of one V-shaped scissor hinge assembly is hinged with the corresponding part of the first supporting frame 11, and the other V-shaped scissor hinge assembly The hinge of the assembly is hinged with the support base 17 or the corresponding fourth base 16, and the hinges of the two X-shaped scissor hinge assemblies are respectively hinged with the corresponding parts of the second support frame 10 and the third support frame 9, and the two X The two X-shaped scissor hinge components are hinged to form a parallelogram connecting rod structure, and the ends of the two X-shaped scissor hinge components are respectively hinged with the ends of the two V-shaped scissor hinge components to form a parallelogram connecting rod structure.

The fourth scissor hinge unit 18 includes two V-shaped scissor hinge assemblies and three X-shaped scissor hinge assemblies, wherein the hinge of one V-shaped scissor hinge assembly is hinged with the corresponding part of the first support frame 11, and the other V-shaped scissor hinge assembly The hinge of the assembly is hinged with the support base 17 or the fifth base corresponding thereto, and the hinges of the three X-shaped scissor hinge assemblies are respectively connected with the second support frame 10, the third support frame 9 and the fourth support frame 8, three The X-shaped scissor hinge components are sequentially hinged to form a parallelogram connecting rod structure. The ends of the two X-shaped scissor hinge components located at the ends are respectively hinged with the ends of the two V-shaped scissor hinge components to form a parallelogram connecting rod structure.

By analogy, the Nth scissor hinge unit includes two V-shaped scissor hinge assemblies and N-1 X-shaped scissor hinge assemblies, wherein the hinge of one V-shaped scissor hinge assembly is hinged with the corresponding part of the first supporting frame 11, and the other The hinge of a V-shaped scissor hinge assembly is hinged with the end of the support base 17, and the hinges of N-1 X-shaped scissor hinge assemblies are respectively connected to the second support frame 10, the third support frame 9, the fourth support frame 8, ..., the N-th support frame, N-1 X-shaped scissor hinge assemblies are hinged in turn to form a parallelogram connecting rod structure, and the ends of the two X-shaped scissor hinge assemblies at the ends are respectively connected to the ends of the two V-shaped scissor hinge assemblies. The ends are hinged to form a parallelogram connecting rod structure, and N sets of scissor-hinge units with different lengths are used to realize synchronous movement between the N support frames. In this way, the linkage mechanism adopted by the deformable wing mechanism is a scissor mechanism, which has the advantages of compact structure, convenient manufacture and maintenance, large load capacity and good rigidity, and realizes the synchronous movement between the supporting frames during the unfolding and folding process , and finally realize the shape change of the entire wing. Other components and connections are the same as those in the first embodiment.

Specific Embodiment Three: This embodiment is described in conjunction with FIG. 2. The scissors linkage skeleton 1 of this embodiment also includes N first hinges 4, and N groups of scissor hinge units are connected to the support base 17 or to the support base 17 through the N first hinges 4 respectively. The corresponding base is hinged. With such an arrangement, the coordinated deformation of the scissors linkage skeleton 1 can be realized. Other compositions and connections are the same as those in Embodiment 1 or Embodiment 2.

Embodiment 4: This embodiment is described in conjunction with FIG. 2. The scissors linkage skeleton 1 of this embodiment also includes a plurality of second hinges 5, and each X-shaped scissor hinge assembly in the scissor hinge unit passes through the second hinge 5 and The corresponding supporting frame is hinged. With such an arrangement, the coordinated deformation of the scissors linkage skeleton 1 can be realized. Other compositions and connections are the same as those in Embodiment 1, 2 or 3.

Embodiment 5: This embodiment is described with reference to FIG. 2 . The scissors linkage frame 1 of this embodiment also includes N third hinges 7 , and N support frames are respectively hinged to N bases through N third hinges 7 . With such an arrangement, the coordinated deformation of the scissors linkage skeleton 1 can be realized. Other compositions and connections are the same as those in Embodiment 1, 2, 3 or 4.

Specific Embodiment Six: This embodiment is described in conjunction with FIG. 2. The scissors linkage frame 1 of this embodiment also includes N fourth hinges 12, and N groups of scissor hinge units are connected to the first support frame 11 through N fourth hinges 12 respectively. hinged. With such an arrangement, the coordinated deformation of the scissors linkage skeleton 1 can be realized. Other compositions and connections are the same as those in Embodiment 1, 2, 3, 4 or 5.

Specific Embodiment Seven: This embodiment is described in conjunction with Fig. 1, Fig. 5 and Fig. 6. The sliding skin 3 of this embodiment is composed of N skins arranged in layers, and the length of the N skins is from the outside to the inside. Decrease, sliding connection between two adjacent skins, N skins include the first skin 25, the second skin 24, the third skin 23, the fourth skin 22, ..., the Nth skin , the first skin 25 to the Nth skin are fixedly connected to the corresponding first support frame 11 to the Nth support frame respectively. In this way, the N skins of the sliding skin 3 are arranged in layers, the length of the tail of the outer skin is greater than the length of the tail of the skin, and the overall sliding skin 3 presents a feather-like distribution of bird wings; a certain amount of space is left between each layer of skin The gap is convenient for sliding. When the scissors linkage frame is folded, the sliding skin 3 is folded together with the scissors linkage frame layer by layer, with high storage rate and small volume. Other compositions and connections are the same as those in Embodiment 1, 2, 3, 4, 5 or 6.

Embodiment 8: This embodiment is described with reference to FIG. 1 , FIG. 5 and FIG. 6 . The N skins in this embodiment are all rigid skins, and the gap between two adjacent skins is 0.5 mm. Each skin is constructed from lightweight aluminum. In this way, there is a gap of 0.5 mm between adjacent skins to ensure normal sliding between the skins, and to achieve layer-by-layer folding or unfolding. The rigid skin ensures that the sliding skin 3 has good rigidity and works stably and reliably. Other compositions and connections are the same as those in Embodiment 1, 2, 3, 4, 5, 6 or 7.

Ninth specific embodiment: This embodiment is described in conjunction with Fig. 1 and Fig. 2. The driving device of this embodiment includes an electric push rod 2 and two motor mounting plates 6, and the base of the electric push rod is connected to the wing body structure through a motor mounting plate 6. Hinged, the end of the electric push rod is hinged with the third support frame 9 through another motor mounting plate 6 . In this way, the driving device is an electric push rod, which can be locked at any position of deployment. After the deformation wing mechanism is deployed, no locking device is needed. The implementation method is simple and the operation is stable and reliable. Other compositions and connections are the same as those in Embodiments 1, 2, 3, 4, 5, 6, 7 or 8.

Embodiment 10: This embodiment is described with reference to FIG. 1 . The degree of freedom of the deformable wing mechanism in this embodiment is 1. With such arrangement, the deformable wing mechanism only needs to use an electric push rod 2 to drive the deformable wing mechanism to complete the unfolding and retracting movements, and the unfolding process is stable and easy to control. Other compositions and connections are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth of the specific embodiments.

working principle

The working principle of the present invention is illustrated in conjunction with Fig. 1 to Fig. 6:

Assuming that the deformed wing mechanism is in a folded state (as shown in Figure 4) in the initial state, the electric push rod 2 moves at this time, and the push rod stretches out to drive the third supporting frame 9 to rotate clockwise around the third hinge 7 at its end. When the distance between the third support frame 9 and the support seat 17 increases, the fourth scissor hinge unit 18, the third scissor hinge unit 19, the second scissor hinge unit 20 and the first scissor hinge unit 21 installed therebetween produce passive deformation. , the overall elongation drives the fourth supporting frame 8, the second supporting frame 10, the first supporting frame 11 and the third supporting frame 9 to rotate synchronously until reaching a fully extended state (as shown in Figure 3), four The unfolding movement of the scissor-hinge unit is kept synchronous, which also ensures that the four supporting frames are always parallel during the unfolding process. When the deformed wing needs to be retracted, the electric push rod 2 shrinks to drive the third support frame 9 to rotate counterclockwise around the third hinge 7 at its end, which is opposite to the unfolding process, and finally retracts to the folded state. When the scissor linkage frame is deformed, the sliding skin fixed on the supporting frame moves accordingly, realizing the extension and retraction of the deformed wing mechanism as a whole.

Claims (10)

1. a kind of based on deformation wing mechanism scissor linkage skeleton and slide covering, it is characterised in that：It includes scissor linkage bone Frame (1), driving device and the sliding covering (3) mounted on scissor linkage skeleton (1) outside, sliding covering (3) are fixedly mounted on Scissor links on skeleton (1), and scissor linkage skeleton (1) drive sliding covering (3) realization is successively collapsed or expansion, driving device drive Dynamic scissor linkage skeleton (1) realizes the gathering and expansion of whole deformation wing mechanism.

2. according to claim 1 a kind of based on deformation wing mechanism scissor linkage skeleton and slide covering, feature exists In：Scissor linkage skeleton (1) includes the scissor-like element N of support base (17), N number of pedestal, N number of support frame and N group different lengths A pedestal include first base (13), second base (14), third pedestal (15), the 4th pedestal (16) ..., N pedestals, One pedestal (13) is sequentially distributed on to N pedestals on support base (17) from front to back,

N number of support frame includes the first support frame (11), the second support frame (10), third support frame (9), the 4th support Skeleton (8) ..., N support frames, the first support frame (11) to N support frames ecto-entad sequentially and is corresponding to it First base (13) to N base rotations connect, be arranged in parallel between N number of support frame,

N group scissor-like elements are cut including the first scissor-like element (21), the second scissor-like element (20), third scissor-like element (19), the 4th Cut with scissors unit (18) ..., N scissor-like elements, be arranged in parallel between N group scissor-like elements, the first scissor-like element (21 to) N cuts hinge The length of unit is incremented by successively from front to back,

First scissor-like element (21) cuts hinge component including two V-types, and each V-type cuts hinge component and is in the shape of the letter V hingedly by two rod pieces It constitutes together；One of V-type is cut the hinged place of hinge component and is hinged with the corresponding position of the first support frame (11), another V-type cuts the hinged place of hinge component and support base (17) or corresponding second base (14) are hinged, and two V-types cut hinge component End, which is hinged, constitutes parallelogram connection-rod structure,

Second scissor-like element (20) cuts hinge component including two V-types and an X-type cuts hinge component, and X-type cuts hinge component by two bars Part is in the hinged composition of X fonts；One of V-type cuts the corresponding portion of the hinged place and the first support frame (11) of hinge component Position is hinged, another V-type cuts the hinged place of hinge component and support base (17) or corresponding third pedestal (15) are hinged, X-type Cut the hinged place of hinge component and the corresponding position of the second support frame (10) be hinged, X-type cut the end of hinge component respectively with two V The end that type cuts hinge component hingedly constitutes parallelogram connection-rod structure,

Third scissor-like element (19) cuts hinge component including two V-types and two X-types cut hinge component, and one of V-type cuts hinge component Hinged place and the first support frame (11) corresponding position it is hinged, another V-type cuts hinged place and the support base of hinge component (17) or corresponding 4th pedestal (16) is hinged, two X-types cut the hinged place of hinge component respectively with the second support frame (10) hinged with the corresponding position of third support frame (9), two X-types are cut to be hinged between hinge component and constitute parallelogram and connect Rod structure, two X-types cut the end that hinge component is cut in the end of hinge component with two V-types respectively and hingedly constitute parallelogram connection-rod Structure,

4th scissor-like element (18) cuts hinge component including two V-types and three X-types cut hinge component, and one of V-type cuts hinge component Hinged place and the first support frame (11) corresponding position it is hinged, another V-type cuts hinged place and the support base of hinge component (17) or corresponding 5th pedestal is hinged, three X-types cut the hinged place of hinge component respectively with the second support frame (10), the Three support frames (9) and the 4th support frame (8), three X-types cut hinge component and hingedly constitute parallelogram connection-rod structure successively, Two X-types positioned at end cut the end that hinge component is cut in the end of hinge component with two V-types respectively and hingedly constitute parallelogram Link mechanism,

And so on, N scissor-like elements cut hinge component including two V-types and N-1 X-type cuts hinge component, and one of V-type cuts hinge The hinged place of component and the corresponding position of the first support frame (11) are hinged, another V-type cuts hinged place and the support of hinge component The end of seat (17) is hinged, N-1 X-type cut the hinged place of hinge component respectively with the second support frame (10), third support frame (9), the 4th support frame (8) ..., N support frames, N-1 X-type cut hinge component successively hingedly constitute parallelogram connect Rod structure, two X-types positioned at end cut hinge component end cut respectively with two V-types hinge component end hingedly constitute it is parallel Quadrilateral connecting rod structure is moved synchronously by the realization of the scissor-like element of N group different lengths between N number of support frame.

3. according to claim 2 a kind of based on deformation wing mechanism scissor linkage skeleton and slide covering, feature exists In：Scissor linkage skeleton (1) further includes N number of first axle (4), and N groups scissor-like element passes through N number of first axle (4) and branch respectively It supports seat (17) or corresponding pedestal is hinged.

4. according to claim 3 a kind of based on deformation wing mechanism scissor linkage skeleton and slide covering, feature exists In：Scissor linkage skeleton (1) further includes multiple second hinges (5), and each X-type in scissor-like element cuts hinge component by second Hinge (5) and corresponding support frame are hinged.

5. according to claim 4 a kind of based on deformation wing mechanism scissor linkage skeleton and slide covering, feature exists In：Scissor linkage skeleton (1) further includes N number of third hinge (7), N number of support frame respectively by N number of third hinge (7) with it is N number of Pedestal is hinged.

6. a kind of deformation wing mechanism based on scissor linkage skeleton with sliding covering according to claim 1,2,3,4 or 5, It is characterized in that：Scissor linkage skeleton (1) further includes N number of 4th hinge (12), and N groups scissor-like element is cut with scissors by the N number of 4th respectively Chain (12) is hinged with the first support frame (11).

7. according to claim 1 a kind of based on deformation wing mechanism scissor linkage skeleton and slide covering, feature exists In：Sliding covering (3) is made of N number of covering in layered arrangement, and the length of N number of covering is sequentially successively decreased from outside to inside, and adjacent two It is slidably connected between a covering, N number of covering includes the first covering (25), the second covering (24), third covering (23), the 4th covering (22) ..., N coverings, the first covering (25) to N coverings respectively with corresponding first support frame (11) to N Support frame is affixed.

8. according to claim 7 a kind of based on deformation wing mechanism scissor linkage skeleton and slide covering, feature exists In：N number of covering is rigid skin, and the gap between two neighboring covering is 0.5mm.

9. according to claim 1 a kind of based on deformation wing mechanism scissor linkage skeleton and slide covering, feature exists In：Driving device includes electric pushrod (2) and two motor mounting plates (6), and electric pushrod pedestal passes through a motor mounting plate (6) hinged with wing-body structure, electric pushrod end is cut with scissors by another motor mounting plate (6) and third support frame (9) It connects.

10. a kind of based on deformation scissor linkage skeleton and slide covering according to claim 1,2,3,4,5,7,8 or 9 Wing mechanism, it is characterised in that：The degree of freedom of the deformation wing mechanism is 1.