CN111284679B - A UAV Deformable Wing Structure Based on Negative Poisson's Ratio Units of Memory Alloy - Google Patents

Abstract

The invention belongs to the technical field of structural materials of unmanned aerial vehicles, and particularly relates to a deformable wing structure of an unmanned aerial vehicle based on a memory alloy negative Poisson's ratio unit body. It includes the fuselage, has NiTi memory alloy skeleton texture, wing covering, interior heating system, insulating layer, intelligent perception system and temperature sensor, the wing that NiTi memory alloy skeleton texture is the main part is installed to the both sides of fuselage, there is outer cladding of NiTi memory alloy skeleton texture to have the wing covering, there is the inside of NiTi memory alloy skeleton texture to be provided with and be used for having the interior heating system of NiTi memory alloy skeleton texture heating. The invention has the advantages that the traditional mechanical deformation modes such as the traditional motor-driven link mechanism are changed, and the traditional mechanical action of the trailing edge of each discrete wing is cancelled, so that the resistance and the noise are reduced, the structure of the wing is simple, the difficulty and the cost of wing maintenance are reduced, and the fixed wing structure can be replaced.

Description

Translated fromChinese

一种基于记忆合金负泊松比单元体的无人机变形翼结构A UAV Deformable Wing Structure Based on Negative Poisson's Ratio Units of Memory Alloy

技术领域technical field

本发明属于无人机结构材料领域技术领域，尤其涉及一种基于记忆合金负泊松比单元体的无人机变形翼结构。The invention belongs to the technical field of UAV structural materials, and in particular relates to a UAV deformable wing structure based on a memory alloy negative Poisson's ratio unit body.

背景技术Background technique

目前来说，飞机在飞行过程中高度、重量和速度等参数并不是固定不变的，为了使飞机具有更好的气动性，在设计机翼的形状时希望能够针对不同的参数变化调整不同的机翼形状，研究发现，在飞行过程中改变机翼的形状可以为飞机节省几个百分点的燃料。同时机翼形状的变形对降低噪声具有重要意义。At present, the parameters such as height, weight and speed of the aircraft are not fixed during the flight. In order to make the aircraft have better aerodynamics, it is hoped that different parameters can be adjusted when designing the shape of the wing. Wing shape, research has found that changing the shape of a wing during flight can save a plane several percent in fuel. At the same time, the deformation of the wing shape is of great significance to reduce the noise.

在飞行器变形过程中，要充分考虑其气动性能，因此应该尽量不要过于粗糙地、间断地变形。目前在机翼变形结构的研究中，研究最多的有变展长、变弦长、变厚度、变后掠和变弯度等变形形式。其传统的变形方式主要是通过机械方式驱动连杆机构斤对机翼面积、机翼展弦比、后掠角、机翼弯度等进行变形。但是这种传统机械式驱动方式的传动系统复杂，占用空间较大，会对飞机的机动性造成影响。由于形状记忆合金具有其大功重比、驱动条件低和驱动结构简单等优点，因此在变体机翼驱动研究中，作为一种高效清洁的驱动元件，将会起到越来越大的作用。During the deformation process of the aircraft, its aerodynamic performance should be fully considered, so try not to deform too roughly and intermittently. At present, in the research of wing deformation structure, the most studied deformation forms are variable span, variable chord length, variable thickness, variable sweep and variable camber. The traditional deformation method is mainly to deform the wing area, wing aspect ratio, sweep angle, wing camber, etc. by mechanically driving the link mechanism. However, the transmission system of this traditional mechanical drive method is complex and occupies a large space, which will affect the maneuverability of the aircraft. Because shape memory alloys have the advantages of high power-to-weight ratio, low driving conditions and simple driving structure, they will play an increasingly important role as an efficient and clean driving element in the research of variant wing driving.

在针对负泊松比柔性蜂窝结构在变体机翼中的应用(Negative Poisson’s RatioHoneycomb Structure and It’s Application Structure and It’s Applications inStructure Design of Morphing Aircraft)的文献中建立了柔性蜂窝蒙皮结构的力学分析模型，研究后得出负泊松比蜂窝结构具有较大的体内变形能力，即内部结构空间上足够允许其拉伸和面内凹陷，因其结构的具有特殊的拉涨特性，采用负泊松比柔性蜂窝结构的变体机翼具有改善无人机起降性能的潜力。The mechanical analysis model of the flexible honeycomb skin structure is established in the literature for the application of the negative Poisson's ratio flexible honeycomb structure in the variant wing (Negative Poisson's RatioHoneycomb Structure and It's Application Structure and It's Applications in Structure Design of Morphing Aircraft). After the study, it is concluded that the negative Poisson's ratio honeycomb structure has a large in vivo deformation ability, that is, the internal structure space is sufficient to allow its stretching and in-plane depression. Because of its special tensile expansion characteristics, the negative Poisson's ratio flexibility Variant wings with honeycomb structures have the potential to improve UAV takeoff and landing performance.

机翼变形要求机翼结构能够容易变形，同时又能承受空气动力载荷。使用形状记忆合金可以实现对机翼形状进行控制。具有双程形状记忆效应的形状记忆合金在加热时恢复高温相形状，冷却时又能恢复低温相形状，所以可以通过控制温度的变化实现高温相形状和低温相形状两种形状之间的转换；而在满足机翼承受一定载荷的应力和应变的要求下，采用负泊松比单元体结构，既能够保证足够的载荷承受力，又能够对机翼结构实现轻量化。Wing deformation requires that the wing structure can be easily deformed while being able to withstand aerodynamic loads. Control over the shape of the airfoil can be achieved using shape memory alloys. The shape memory alloy with two-way shape memory effect restores the shape of the high-temperature phase when heated and the shape of the low-temperature phase when cooled, so the transformation between the shape of the high-temperature phase and the shape of the low-temperature phase can be realized by controlling the change of temperature; In order to meet the requirements of the stress and strain of the wing under a certain load, the negative Poisson's ratio unit body structure can not only ensure sufficient load bearing capacity, but also reduce the weight of the wing structure.

并且由于机翼与机身的材料不同，现有的机翼不方便与机身进行固定安装，并且拆卸困难，不方便维修与更换，因此现有的变形机翼的安装拆卸与维修也是变形机翼需要克服的重要问题。And because the materials of the wings and the fuselage are different, the existing wings are inconvenient to be fixedly installed with the fuselage, and the disassembly is difficult, and it is inconvenient to maintain and replace. Therefore, the installation, disassembly and maintenance of the existing deformed wings are also deformation machines Wings need to overcome important issues.

发明内容SUMMARY OF THE INVENTION

(一)要解决的技术问题(1) Technical problems to be solved

针对现有存在的技术问题，本发明提供一种基于记忆合金负泊松比单元体的无人机变形翼结构In view of the existing technical problems, the present invention provides a UAV deformable wing structure based on a memory alloy negative Poisson's ratio unit body

(二)技术方案(2) Technical solutions

为了达到上述目的，本发明采用的主要技术方案包括：一种基于记忆合金负泊松比单元体的无人机变形翼结构，包括机身、有NiTi记忆合金骨架结构、机翼蒙皮、内加热系统、隔热层、智能感知系统和温度传感器；In order to achieve the above purpose, the main technical solutions adopted in the present invention include: a UAV deformable wing structure based on a memory alloy negative Poisson's ratio unit body, comprising a fuselage, a NiTi memory alloy skeleton structure, a wing skin, an inner Heating systems, thermal insulation, intelligent sensing systems and temperature sensors;

所述机身的两侧安装有NiTi记忆合金骨架结构为主体的机翼；Both sides of the fuselage are installed with wings with NiTi memory alloy skeleton structure as the main body;

所述有NiTi记忆合金骨架结构的外层包覆有所述机翼蒙皮；The outer layer with the NiTi memory alloy skeleton structure is covered with the wing skin;

所述有NiTi记忆合金骨架结构的内部设置有用于对有NiTi记忆合金骨架结构加热的内加热系统；The interior of the NiTi memory alloy skeleton structure is provided with an internal heating system for heating the NiTi memory alloy skeleton structure;

所述有NiTi记忆合金骨架结构的内部设置有方便测试其温度的温度传感器；The interior of the NiTi memory alloy skeleton structure is provided with a temperature sensor that is convenient for testing its temperature;

所述温度传感器的信号通过电信号传输到所述智能感知系统；The signal of the temperature sensor is transmitted to the intelligent perception system through an electrical signal;

所述有NiTi记忆合金骨架结构与所述内加热系统的夹层设置所述隔热层；The thermal insulation layer is provided in the interlayer of the NiTi memory alloy skeleton structure and the internal heating system;

所述有NiTi记忆合金骨架结构为Ni_50.9Ti_49.1形状记忆合金负泊松比单元体的变形翼结构；The described NiTi memory alloy skeleton structure is a deformed wing structure of Ni_50.9 Ti_49.1 shape memory alloy negative Poisson's ratio unit body;

所述有NiTi记忆合金骨架结构与机身的两侧安装处设置有机翼安装结构，方便机翼与机身的安装配合；The NiTi memory alloy skeleton structure and the two sides of the fuselage are provided with a wing installation structure, which is convenient for the installation and cooperation of the wings and the fuselage;

所述机翼安装结构包括插接块和插接槽；The wing mounting structure includes a plug-in block and a plug-in slot;

所述机身的外壁左右两侧前后两端均安装有方便机翼安装的插接块；The front and rear ends of the left and right sides of the outer wall of the fuselage are installed with plug-in blocks that facilitate the installation of the wings;

左右两片所述有NiTi记忆合金骨架结构的内侧开设有前后设置的方便插接块伸入的插接槽；The inner sides of the left and right two pieces of the NiTi memory alloy skeleton structure are provided with insertion slots arranged at the front and rear to facilitate insertion of the insertion blocks;

所述插接块的内侧开设有卡槽；The inner side of the plug-in block is provided with a card slot;

前后两个所述插接槽的内侧设置有用于机翼安装的卡接结构；The inner sides of the front and rear two insertion slots are provided with a snap-fit structure for wing installation;

所述卡接结构包括支撑板；The snap connection structure includes a support plate;

所述支撑板的顶端通过轴承轴接有转板；The top end of the support plate is connected with a rotating plate through a bearing shaft;

所述支撑板的左右两侧内壁均固定连接有导向杆；Guide rods are fixedly connected to the inner walls of the left and right sides of the support plate;

所述导向杆的外壁前后两侧均套接有与卡槽相插接配合的卡块；The front and rear sides of the outer wall of the guide rod are sleeved with a clamping block which is inserted and matched with the clamping groove;

所述卡块的内侧顶端中心位置均轴接有推杆的一端；One end of the push rod is axially connected to the center position of the inner top end of the clamping block;

所述推杆的另一端分别与转板的顶端左右两端外壁相轴接；The other end of the push rod is respectively axially connected with the outer walls of the top left and right ends of the rotating plate;

所述转板的中心位置固定连接有方便带动转板转动的转杆；The center position of the rotating plate is fixedly connected with a rotating rod which is convenient to drive the rotating plate to rotate;

所述转杆的顶端贯穿有NiTi记忆合金骨架结构设置有用于转动转杆的转盘；The top end of the rotating rod is penetrated by a NiTi memory alloy skeleton structure, and a turntable for rotating the rotating rod is arranged;

所述转盘的侧壁开设有凹槽；The side wall of the turntable is provided with a groove;

所述凹槽的内侧接触有对转盘卡接的伸缩机构。The inner side of the groove is in contact with a telescopic mechanism that is clamped to the turntable.

根据本发明，所述插接槽的内侧设置有第二导电体；According to the present invention, the inner side of the insertion slot is provided with a second electrical conductor;

所述插接块的外侧安装有与所述第二导电体接触后使有NiTi记忆合金骨架结构与机身形成电路连接的第一导电体。The outer side of the plug-in block is installed with a first electrical conductor which is in contact with the second electrical conductor so that the NiTi memory alloy skeleton structure forms a circuit connection with the fuselage.

根据本发明，所述伸缩机构包括固定块；According to the present invention, the telescopic mechanism includes a fixed block;

所述固定块的底端与有NiTi记忆合金骨架结构固定连接；The bottom end of the fixed block is fixedly connected with the NiTi memory alloy skeleton structure;

所述固定块的内腔插接有横杆；The inner cavity of the fixed block is inserted with a cross bar;

所述横杆的外侧设置有拉柄；A pull handle is provided on the outer side of the cross bar;

所述横杆的内侧设置有凸块；The inner side of the cross bar is provided with a bump;

所述凸块与凹槽相嵌接；the bump is embedded with the groove;

所述横杆的外壁套接有弹簧；The outer wall of the cross bar is sleeved with a spring;

所述弹簧的一端与固定块的内壁相抵，且其另一端与凸块的内壁相抵。One end of the spring is abutted against the inner wall of the fixing block, and the other end of the spring is abutted against the inner wall of the protruding block.

根据本发明，所述有NiTi记忆合金骨架结构的内腔设置有电热凹槽；According to the present invention, the inner cavity with the NiTi memory alloy skeleton structure is provided with an electric heating groove;

所述内加热系统通过所述电热凹槽的嵌接在有NiTi记忆合金骨架结构的内部；The inner heating system is embedded in the interior of the NiTi memory alloy skeleton structure through the electric heating groove;

所述内加热系统为电热丝；The internal heating system is an electric heating wire;

所述凹槽周边材料选用Cu-Al-Ni合金The material around the groove is Cu-Al-Ni alloy

根据本发明，所述转盘的侧壁开设的凹槽数量为偶数，且均匀对称分布在转盘的侧壁。According to the present invention, the number of grooves opened on the side wall of the turntable is an even number, and the grooves are evenly and symmetrically distributed on the side wall of the turntable.

根据本发明，所述转板为椭圆形转板。According to the present invention, the rotating plate is an oval rotating plate.

根据本发明，所述机翼蒙皮为聚醚醚酮柔性高分子聚合物与纤维复合材料整体成型，所述机翼蒙皮为柔性曲面蒙皮。According to the present invention, the wing skin is integrally formed of polyether ether ketone flexible high molecular polymer and fiber composite material, and the wing skin is a flexible curved surface skin.

根据本发明，所述电热凹槽均匀间隙成网状分布在所述有NiTi记忆合金骨架结构内。According to the present invention, the electrothermal grooves are distributed in the NiTi memory alloy skeleton structure with uniform gaps.

根据本发明，所述隔热层材料采用玄武岩纤维或HPS静体复合保温膏。According to the present invention, the material of the heat insulating layer adopts basalt fiber or HPS static composite heat preservation paste.

(三)有益效果(3) Beneficial effects

本发明的有益效果是：The beneficial effects of the present invention are:

(1)改变了传统的用电机驱动连杆机构等机械变形方式，减轻了机身重量，简化机身结构，增强机翼工作环境适应性，提升机翼工作的可靠性和安全系数。(1) The traditional mechanical deformation methods such as the motor-driven linkage mechanism are changed, the weight of the fuselage is reduced, the structure of the fuselage is simplified, the adaptability of the wing working environment is enhanced, and the reliability and safety factor of the wing operation are improved.

(2)取消了各个分立机翼后缘的传统机械动作，(如襟翼的放下和收回，通过改变机翼的面积来改变机翼的气动特性)，从而降低了阻力和噪音，同时提高了能量效率，有利于节能。(2) The traditional mechanical action of the trailing edge of each discrete wing, (such as the lowering and retracting of the flaps, changing the aerodynamic characteristics of the wing by changing the area of the wing) is eliminated, thereby reducing drag and noise, while improving Energy efficiency, conducive to energy saving.

(3)机翼的结构简单，没有复杂的机械传动结构，降低机翼维护维修的难度和成本。(3) The structure of the wing is simple, and there is no complicated mechanical transmission structure, which reduces the difficulty and cost of maintenance and repair of the wing.

(4)能够替代传统的固定式机翼结构，在保证承受正常载荷的情况下，实现机翼变形，提高飞机的飞动性能。在此基础上进行针对性设计，可实现提高速度、环保、更高效、更节能的目的。(4) It can replace the traditional fixed wing structure, realize the deformation of the wing under the condition of ensuring normal load, and improve the flight performance of the aircraft. On this basis, targeted design can achieve the purpose of improving speed, environmental protection, more efficiency and more energy saving.

(5)能够解决由于机翼与机身的材料不同，机翼与机身的固定问题，拆卸简单，方便维修与更换。(5) It can solve the problem of fixing the wing and the fuselage due to the different materials of the wing and the fuselage, and the disassembly is simple, which is convenient for maintenance and replacement.

附图说明Description of drawings

图1为本发明的等轴侧视图；1 is an isometric view of the present invention;

图2为本发明的骨架单元结构示意图；Fig. 2 is the structural representation of skeleton unit of the present invention;

图3为本发明的机翼变形后的效果图；Fig. 3 is the effect diagram after the deformation of the wing of the present invention;

图4为本发明的内加热结构图；Fig. 4 is the internal heating structure diagram of the present invention;

图5为本发明的俯视图；Fig. 5 is the top view of the present invention;

图6为本发明的有NiTi记忆合金骨架结构与机身的连接关系示意图；6 is a schematic diagram of the connection relationship between the NiTi memory alloy skeleton structure and the fuselage of the present invention;

图7为图6的A处放大图；Fig. 7 is the enlarged view of A place of Fig. 6;

图8为本发明的有NiTi记忆合金骨架结构与机身的连接处主视剖面示意图；8 is a schematic cross-sectional front view of the connection between the NiTi memory alloy skeleton structure and the fuselage according to the present invention;

图9为本发明的有NiTi记忆合金骨架结构表面固定块的俯视剖面示意图；9 is a schematic top-view cross-sectional view of a surface fixing block with a NiTi memory alloy skeleton structure according to the present invention;

具体实施方式Detailed ways

为了更好的解释本发明，以便于理解，下面结合附图，通过具体实施方式，对本发明作详细描述。In order to better explain the present invention and facilitate understanding, the present invention will be described in detail below with reference to the accompanying drawings and through specific embodiments.

本发明提供一种基于记忆合金负泊松比单元体的无人机变形翼结构，包括机身5、有NiTi记忆合金骨架结构3、机翼蒙皮1、内加热系统、隔热层2、智能感知系统和温度传感器；The present invention provides a UAV deformable wing structure based on a memory alloy negative Poisson's ratio unit body, comprising a fuselage 5, a NiTi memoryalloy skeleton structure 3, awing skin 1, an internal heating system, aheat insulation layer 2, IntelliSense system and temperature sensor;

机身的两侧安装有NiTi记忆合金骨架结构3为主体的机翼；The wings with NiTi memoryalloy skeleton structure 3 as the main body are installed on both sides of the fuselage;

有NiTi记忆合金骨架结构3的外层包覆有机翼蒙皮1，机翼蒙皮1对内部结构起保护作用；The outer layer of the NiTi memoryalloy skeleton structure 3 is covered with awing skin 1, and thewing skin 1 has a protective effect on the internal structure;

有NiTi记忆合金骨架结构3的内部设置有用于对有NiTi记忆合金骨架结构3加热的内加热系统，内加热系统用于对有NiTi记忆合金骨架结构3的内部的温度进行控制；The interior of the NiTi memoryalloy skeleton structure 3 is provided with an internal heating system for heating the NiTi memoryalloy skeleton structure 3, and the internal heating system is used to control the internal temperature of the NiTi memoryalloy skeleton structure 3;

有NiTi记忆合金骨架结构3的内部设置有方便测试其温度的温度传感器，温度传感器用于方便检测有NiTi记忆合金骨架结构3的内部的温度；The inside of the NiTi memoryalloy skeleton structure 3 is provided with a temperature sensor that is convenient for testing its temperature, and the temperature sensor is used to conveniently detect the internal temperature of the NiTi memoryalloy skeleton structure 3;

温度传感器的信号通过电信号传输到智能感知系统，智能感知系统对内加热系统起控制作用；The signal of the temperature sensor is transmitted to the intelligent sensing system through the electrical signal, and the intelligent sensing system controls the internal heating system;

有NiTi记忆合金骨架结构3与内加热系统的夹层设置隔热层2，隔热层2起隔热作用；An insulatinglayer 2 is arranged between the NiTi memoryalloy skeleton structure 3 and the internal heating system, and the insulatinglayer 2 acts as a heat insulating layer;

有NiTi记忆合金骨架结构3为Ni_50.9Ti_49.1形状记忆合金负泊松比单元体的变形翼结构；There is a deformed wing structure in which the NiTi memoryalloy skeleton structure 3 is a Ni_50.9 Ti_49.1 shape memory alloy negative Poisson's ratio unit body;

所述复合材料的原材料包括Ti粉、Ni粉，Ti粉为49.1wt.％、Ni粉为50.9wt.％；传统的镍钛合金制备过程中,由于成分偏析、杂质等因素的影响,使得合金成分不均匀,影响合金的塑形成型、合金致密度等组织性能，打印出来的样件形状记忆效果并不理想。我们所采用的材料Ni_50.9Ti_49.1经过其他人的研究以及试验验证得到，其形状记忆效果相对较好，在对此结构进行压缩回复实验时，回复效果最高可达75％左右。打印出来的成品样件致密性高，抗疲劳强度良好。The raw materials of the composite material include Ti powder and Ni powder. The Ti powder is 49.1 wt.% and the Ni powder is 50.9 wt.%. During the traditional nickel-titanium alloy preparation process, due to the influence of factors such as composition segregation, impurities, etc., the alloy is difficult to obtain. The non-uniform composition affects the microstructure and properties of the alloy, such as plastic forming and alloy density, and the shape memory effect of the printed sample is not ideal. The material we use, Ni_50.9 Ti_49.1 , has been verified by other people's research and experiments, and its shape memory effect is relatively good. When the compression recovery experiment is carried out on this structure, the recovery effect can reach up to about 75%. The printed samples have high density and good fatigue resistance.

有NiTi记忆合金骨架结构采用负泊松比的全覆盖式的骨架，有记忆合金负泊松比单元体骨架结构通过增材制造的方法制成，所采用的骨架结构传统的机翼骨架不同，并非采用桁架式的梁结构，而是采用负泊松比的全覆盖式的骨架，负泊松比试件在出现初始损伤时可以承受比正泊松比试件更高的荷载并且在试件最终失效时可以吸收更多的能量，并且脱层损伤被限制在相对小的局部区域，大大减少了试件需要修复的区域。因此相对于传统铺设方式的正泊松比复合材料在航空工业领域的应用限制而言，负泊松比复合材料具有明显的优势。不仅达到了轻量化的目的，也提高了机翼承载性能。The NiTi memory alloy skeleton structure adopts a full-coverage skeleton with negative Poisson's ratio, and the memory alloy negative Poisson's ratio unit body skeleton structure is made by the method of additive manufacturing. The skeleton structure used is different from the traditional wing skeleton. Instead of a truss-type beam structure, a fully covered skeleton with negative Poisson's ratio is used. The negative Poisson's ratio specimen can withstand higher loads than the positive Poisson's ratio specimen when initial damage occurs and the specimen eventually fails. More energy can be absorbed, and delamination damage is confined to a relatively small localized area, greatly reducing the area of the specimen that needs to be repaired. Therefore, the negative Poisson's ratio composite material has obvious advantages compared with the application limitation of the positive Poisson's ratio composite material in the traditional laying method in the aviation industry. It not only achieves the purpose of light weight, but also improves the bearing performance of the wing.

有NiTi记忆合金骨架结构3与机身5的两侧安装处设置有机翼安装结构，方便机翼与机身5的安装配合。The NiTi memoryalloy skeleton structure 3 and the two sides of the fuselage 5 are installed with a wing installation structure, which facilitates the installation and cooperation of the wings and the fuselage 5 .

具体的，机翼安装结构包括插接块6和插接槽14，机身5的插接块6插入机翼的插接槽14，内进行机身5与机翼的配合安装；Specifically, the wing installation structure includes a plug-in block 6 and a plug-inslot 14, the plug-in block 6 of the fuselage 5 is inserted into the plug-ingroove 14 of the wing, and the fuselage 5 and the wing are installed in cooperation;

插接槽14的内侧设置有第二导电体16；Asecond conductor 16 is disposed on the inner side of theinsertion slot 14;

机身5的外壁左右两侧前后两端均安装有方便机翼安装的插接块6；Plug blocks 6 are installed on the left and right sides of the outer wall of the fuselage 5 at the front and rear ends to facilitate the installation of the wings;

左右两片有NiTi记忆合金骨架结构3的内侧开设有前后设置的方便插接块6伸入的插接槽14；The inner sides of the left and right two NiTi memoryalloy skeleton structures 3 are provided withinsertion slots 14 arranged at the front and rear to facilitate insertion of the insertion blocks 6;

插接块6的内侧开设有卡槽7，卡槽7方便与后面介绍的卡块12配合插接；The inner side of the plug-in block 6 is provided with a card slot 7, and the card slot 7 is convenient for cooperating with thecard block 12 described later;

插接块6的外侧安装有与第二导电体16接触后使有NiTi记忆合金骨架结构3与机身5形成电路连接的第一导电体8，第一导电体8与第二导电体16用于方便机翼的通电；The outer side of the plug-in block 6 is installed with afirst conductor 8 which is in contact with thesecond conductor 16 to form a circuit connection between the NiTi memoryalloy skeleton structure 3 and the fuselage 5. Thefirst conductor 8 and thesecond conductor 16 are used for To facilitate the energization of the wings;

前后两个插接槽14的内侧设置有用于机翼安装的卡接结构。The inner sides of the front andrear insertion slots 14 are provided with a snap-fit structure for wing installation.

进一步，卡接结构包括支撑板9，支撑板9对顶部机构起支撑作用；Further, the clamping structure includes asupport plate 9, and thesupport plate 9 supports the top mechanism;

支撑板9的顶端通过轴承轴接有转板10，转板10可以相对支撑板9转动；The top end of thesupport plate 9 is connected with therotating plate 10 through the bearing, and therotating plate 10 can rotate relative to thesupport plate 9;

支撑板9的左右两侧内壁均固定连接有导向杆11，导向杆11对卡块12的运动起导向作用；Guide rods 11 are fixedly connected to the inner walls of the left and right sides of thesupport plate 9 , and theguide rods 11 play a guiding role for the movement of the clampingblock 12 ;

导向杆11的外壁前后两侧均套接有与卡槽7相插接配合的卡块12，当卡块12进入卡槽7后，实现机身5与机翼的连接；The front and rear sides of the outer wall of theguide rod 11 are sleeved with a clampingblock 12 that is inserted and matched with the clamping slot 7. When the clampingblock 12 enters the clamping slot 7, the connection between the fuselage 5 and the wing is realized;

卡块12的内侧顶端中心位置均轴接有推杆13的一端；One end of thepush rod 13 is axially connected to the center position of the inner top end of the clampingblock 12;

推杆13的另一端分别与转板10的顶端左右两端外壁相轴接，转板10转动通过推杆13带动前后两个卡块12插入卡槽7；The other end of thepush rod 13 is respectively axially connected with the outer walls of the top left and right ends of therotating plate 10, and therotating plate 10 rotates through thepush rod 13 to drive the front and rear twoblocks 12 into the card slot 7;

转板10的中心位置固定连接有方便带动转板10转动的转杆15，转杆15带动转板10转动；The center position of therotating plate 10 is fixedly connected with arotating rod 15 which is convenient to drive the rotatingplate 10 to rotate, and therotating rod 15 drives therotating plate 10 to rotate;

转杆15的顶端贯穿有NiTi记忆合金骨架结构3设置有用于转动转杆的转盘17；The top end of therotating rod 15 penetrates the NiTi memoryalloy skeleton structure 3 and is provided with arotating plate 17 for rotating the rotating rod;

转盘17的侧壁开设有凹槽18；The side wall of theturntable 17 is provided with agroove 18;

凹槽18的内侧接触有对转盘17卡接的伸缩机构。The inner side of thegroove 18 is in contact with a telescopic mechanism that is snapped to theturntable 17 .

进一步，伸缩机构包括固定块19，固定块19用于支撑其内部装置；Further, the telescopic mechanism includes a fixedblock 19, and the fixedblock 19 is used to support its internal device;

固定块19的底端与有NiTi记忆合金骨架结构3固定连接；The bottom end of the fixedblock 19 is fixedly connected with the NiTi memoryalloy skeleton structure 3;

固定块19的内腔插接有横杆20；The inner cavity of the fixedblock 19 is inserted with across bar 20;

横杆20的外侧设置有拉柄21，拉柄21用于拉动横杆20；Ahandle 21 is provided on the outer side of thecross bar 20, and thehandle 21 is used to pull thecross bar 20;

横杆20的内侧设置有凸块23；The inner side of thecross bar 20 is provided with abump 23;

凸块23与凹槽18相嵌接，凸块23进入凹槽18对转盘17进行固定；Thebump 23 is embedded in thegroove 18, and thebump 23 enters thegroove 18 to fix theturntable 17;

横杆20的外壁套接有弹簧22；The outer wall of thecross bar 20 is sleeved with aspring 22;

弹簧22的一端与固定块19的内壁相抵，且其另一端与凸块23的内壁相抵。One end of thespring 22 is abutted against the inner wall of the fixingblock 19 , and the other end of thespring 22 is abutted against the inner wall of the protrudingblock 23 .

进一步，有NiTi记忆合金骨架结构3的内腔设置有电热凹槽；Further, the inner cavity with the NiTi memoryalloy skeleton structure 3 is provided with an electrothermal groove;

内加热系统通过电热凹槽的嵌接在有NiTi记忆合金骨架结构3的内部；The internal heating system is embedded in the interior of the NiTi memoryalloy skeleton structure 3 through the electric heating groove;

内加热系统为电热丝4；The internal heating system iselectric heating wire 4;

凹槽周边材料选用Cu-Al-Ni合金，Cu-Al-Ni合金是一种可以与变形材料很好的配合的材料The material around the groove is Cu-Al-Ni alloy. Cu-Al-Ni alloy is a material that can cooperate well with deformed materials.

进一步，转盘17的侧壁开设的凹槽18数量为偶数，且均匀对称分布在转盘17的侧壁，凸块23与凹槽18固定转盘17。Further, the number ofgrooves 18 opened on the sidewall of theturntable 17 is even and symmetrically distributed on the sidewall of theturntable 17 . Theprotrusions 23 and thegrooves 18 fix theturntable 17 .

进一步，转板10为椭圆形转板，转板10用于通过推杆13推动卡块12运动。Further, the rotatingplate 10 is an oval rotating plate, and therotating plate 10 is used to push theclamping block 12 to move through thepush rod 13 .

进一步，机翼蒙皮1为聚醚醚酮柔性高分子聚合物与纤维复合材料整体成型，机翼蒙皮1为柔性曲面蒙皮。Further, thewing skin 1 is integrally formed of polyether ether ketone flexible polymer and fiber composite material, and thewing skin 1 is a flexible curved skin.

进一步，电热凹槽均匀间隙成网状分布在所述有NiTi记忆合金骨架结构3内。Further, the electric heating grooves are distributed in the NiTi memoryalloy skeleton structure 3 with uniform gaps.

进一步，隔热层2材料采用玄武岩纤维或HPS静体复合保温膏，隔热性能好，质量轻且不影响形变的材料。Further, the material of thethermal insulation layer 2 is made of basalt fiber or HPS static composite thermal insulation paste, which has good thermal insulation performance, light weight and does not affect deformation.

隔热层2作用：目前设备及供热线路都应该包敷单层或双层保温层，一方面是减少热介质在输送过程中的散热损失，另一方面保证机翼变形中稳定的温度，以防变形不到位。Insulation layer 2: At present, equipment and heating lines should be covered with a single or double-layer insulation layer. On the one hand, it is to reduce the heat dissipation loss of the heat medium during the transportation process, and on the other hand, to ensure a stable temperature during the deformation of the wing. In order to prevent deformation in place.

本发明的无人机变形翼的单元体骨架，通过使用CATIA建模软件，先建立其我们需要的负泊松比单元模型，即可重入单元体，如图2；之后对单元体进行排布，做出机翼的形状，并在机翼的骨架中设计电热凹槽，以便嵌入加热丝；最后在机翼骨架外层建立曲面，即柔性机翼蒙皮。最终在计算机中建立起三维模型；The unit body skeleton of the UAV deformable wing of the present invention, by using the CATIA modeling software, first establishes the negative Poisson's ratio unit model we need, and then re-enters the unit body, as shown in Figure 2; then arranges the unit body. Fabric, make the shape of the wing, and design electric heating grooves in the skeleton of the wing to embed the heating wire; finally, create a curved surface on the outer layer of the wing skeleton, that is, the flexible wing skin. Finally, a three-dimensional model is established in the computer;

然后使用SLM技术对机翼结构进行打印，基于打印机实际打印能力，将骨架结构分成五部分，分别打印后进行组装；通过切片软件对该三维模型进行切片分层，得到各截面的轮廓数据，由轮廓数据生成填充扫描路径，设备将按照这些填充扫描线，控制激光束选区熔化各层的金属粉末材料，逐步堆叠成三维机翼骨架结构。激光束开始扫描前，铺粉装置先把金属粉末平推到成形缸的基板上，激光束再按当前层的填充扫描线，选区熔化基板上的粉末，加工出当前层，然后成形缸下降一个层厚的距离，粉料缸上升一定厚度的距离，铺粉装置再在已加工好的当前层上铺好金属粉末，设备调入下一层轮廓的数据进行加工，如此层层加工，直到骨架结构加工完毕。Then use SLM technology to print the wing structure. Based on the actual printing ability of the printer, the skeleton structure is divided into five parts, which are printed and assembled separately; the 3D model is sliced and layered by slicing software, and the profile data of each section is obtained. The contour data generates filling scanning paths, and the equipment will follow these filling scanning lines to control the laser beam to selectively melt the metal powder materials of each layer, and gradually stack them into a three-dimensional wing skeleton structure. Before the laser beam starts to scan, the powder spreading device first pushes the metal powder onto the base plate of the forming cylinder, and then the laser beam presses the filling scanning line of the current layer to melt the powder on the base plate in a selected area to process the current layer, and then the forming cylinder descends by one The distance of the layer thickness, the powder cylinder rises a certain thickness distance, the powder spreading device spreads metal powder on the current layer that has been processed, and the equipment transfers the data of the contour of the next layer for processing, and processes layer by layer until the skeleton The structure is finished.

工作原理：Ni_50.9Ti_49.1合金通过训练获得双程形状记忆效应，先获得单程记忆效应，即实现可以通过温度使机翼骨架变形，机翼自身恢复到可弯曲的极限位置，随后在低于材料马氏体开始相变的温度Ms下，对Ni_50.9Ti_49.1合金进行回复变形，即机翼保持初始形状，然后加热到马氏体转变为奥氏体的温度As，Ni_50.9Ti_49.1合金恢复可弯曲的极限位置状态，即机翼变为适应其运动状态的形状；又降低温度至Ms以下，再次变形Ni_50.9Ti_49.1合金，使其变为初始状态。通过上述多次反复训练，使Ni_50.9Ti_49.1合金得到需要的双程记忆效应，从而实现通过温度变化来控制机翼的变形的功能，并且当需要对机翼进行安装时，首先将机翼的插接槽14与机身5侧面的插接块6对准，将插接块6插入插接槽14的内腔，此时通过拉柄21向外侧拉动横杆20,横杆20带动凸块23脱离转盘17侧壁的凹槽18后，逆时针转动转盘17，此时转盘17带动转杆15逆时针转动，转杆15带动转板10逆时针转动，转板10通过推杆13将卡块12推入卡槽7，当卡块12完全进入卡槽7后，停止转动转盘17，松开拉柄21，此时弹簧22复位将凸块23再次推入凹槽18完成机翼的安装。Working principle: Ni_50.9 Ti_49.1 alloy obtains the two-way shape memory effect through training, first obtains the one-way memory effect, that is, the wing skeleton can be deformed by temperature, and the wing itself recovers to the limit position of bendability, and then it is lower than the material. The Ni_50.9 Ti_49.1 alloy is recovered and deformed at the temperature Ms at which the martensite begins to transform, that is, the wing maintains the initial shape, and then heated to the temperature As at which the martensite transforms into austenite, the Ni_50.9 Ti_49.1 alloy can be recovered. The bending limit position state, that is, the wing becomes a shape adapted to its motion state; the temperature is lowered to below Ms, and the Ni_50.9 Ti_49.1 alloy is deformed again to become the initial state. Through the above repeated training, the Ni_50.9 Ti_49.1 alloy can obtain the required two-way memory effect, so as to realize the function of controlling the deformation of the wing through temperature changes. Theinsertion slot 14 is aligned with the insertion block 6 on the side of the fuselage 5, and the insertion block 6 is inserted into the inner cavity of theinsertion slot 14. At this time, thecross bar 20 is pulled to the outside through thehandle 21, and thecross bar 20 drives the bump. 23 After leaving thegroove 18 on the side wall of theturntable 17, turn theturntable 17 counterclockwise. At this time, theturntable 17 drives the turningrod 15 to rotate counterclockwise, and the turningrod 15 drives the turningplate 10 to rotate counterclockwise. Push theblock 12 into the slot 7. When theblock 12 completely enters the slot 7, stop rotating theturntable 17 and release thehandle 21. At this time, thespring 22 resets and pushes thebump 23 into theslot 18 again to complete the installation of the wing. .

以上结合具体实施例描述了本发明的技术原理，这些描述只是为了解释本发明的原理，不能以任何方式解释为对本发明保护范围的限制。基于此处解释，本领域的技术人员不需要付出创造性的劳动即可联想到本发明的其它具体实施方式，这些方式都将落入本发明的保护范围之内。The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are only for explaining the principles of the present invention, and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations herein, those skilled in the art can think of other specific embodiments of the present invention without creative efforts, and these methods will all fall within the protection scope of the present invention.

Claims (9)

Translated fromChinese

1.一种基于记忆合金负泊松比单元体的无人机变形翼结构，包括机身(5)、有NiTi记忆合金骨架结构(3)、机翼蒙皮(1)、内加热系统、隔热层(2)、智能感知系统和温度传感器；1. A UAV deformable wing structure based on a memory alloy negative Poisson's ratio unit body, comprising a fuselage (5), a NiTi memory alloy skeleton structure (3), a wing skin (1), an internal heating system, a thermal insulation layer (2), an intelligent sensing system and a temperature sensor;所述机身的两侧安装有NiTi记忆合金骨架结构(3)为主体的机翼；Both sides of the fuselage are installed with wings with NiTi memory alloy skeleton structure (3) as the main body;所述有NiTi记忆合金骨架结构(3)的外层包覆有所述机翼蒙皮(1)；The outer layer of the NiTi memory alloy skeleton structure (3) is covered with the wing skin (1);所述有NiTi记忆合金骨架结构(3)的内部设置有用于对有NiTi记忆合金骨架结构(3)加热的内加热系统；The interior of the NiTi memory alloy skeleton structure (3) is provided with an internal heating system for heating the NiTi memory alloy skeleton structure (3);所述有NiTi记忆合金骨架结构(3)的内部设置有方便测试其温度的温度传感器；The inside of the NiTi memory alloy skeleton structure (3) is provided with a temperature sensor that is convenient for testing its temperature;所述温度传感器的信号通过电信号传输到所述智能感知系统；The signal of the temperature sensor is transmitted to the intelligent perception system through an electrical signal;所述有NiTi记忆合金骨架结构(3)与所述内加热系统的夹层设置所述隔热层(2)，其特征在于：The insulating layer (2) is provided in the interlayer of the NiTi memory alloy skeleton structure (3) and the internal heating system, and is characterized in that:所述有NiTi记忆合金骨架结构(3)为Ni_50.9Ti_49.1形状记忆合金负泊松比单元体的变形翼结构；The NiTi memory alloy skeleton structure (3) is a deformed wing structure of a Ni_50.9 Ti_49.1 shape memory alloy negative Poisson's ratio unit body;所述有NiTi记忆合金骨架结构(3)与机身(5)的两侧安装处设置有机翼安装结构，方便机翼与机身(5)的安装配合；The NiTi memory alloy skeleton structure (3) and the two sides of the fuselage (5) are installed with a wing mounting structure, so as to facilitate the installation and cooperation of the wings and the fuselage (5);所述机翼安装结构包括插接块(6)和插接槽(14)；The wing mounting structure includes a plug-in block (6) and a plug-in slot (14);所述机身(5)的外壁左右两侧前后两端均安装有方便机翼安装的插接块(6)；The front and rear ends of the left and right sides of the outer wall of the fuselage (5) are provided with plug-in blocks (6) that facilitate the installation of the wings;左右两片所述有NiTi记忆合金骨架结构(3)的内侧开设有前后设置的方便插接块(6)伸入的插接槽(14)；The inner sides of the left and right two NiTi memory alloy skeleton structures (3) are provided with insertion slots (14) arranged at the front and rear for convenient insertion of the insertion blocks (6);所述插接块(6)的内侧开设有卡槽(7)；The inner side of the plug-in block (6) is provided with a card slot (7);前后两个所述插接槽(14)的内侧设置有用于机翼安装的卡接结构；The inner sides of the two front and rear insertion slots (14) are provided with a snap-fit structure for wing installation;所述卡接结构包括支撑板(9)；The clamping structure includes a support plate (9);所述支撑板(9)的顶端通过轴承轴接有转板(10)；The top end of the support plate (9) is axially connected with a rotating plate (10) through a bearing;所述支撑板(9)的左右两侧内壁均固定连接有导向杆(11)；Guide rods (11) are fixedly connected to the inner walls of the left and right sides of the support plate (9);所述导向杆(11)的外壁前后两侧均套接有与卡槽(7)相插接配合的卡块(12)；The front and rear sides of the outer wall of the guide rod (11) are sleeved with a clamping block (12) which is inserted and matched with the clamping groove (7);所述卡块(12)的内侧顶端中心位置均轴接有推杆(13)的一端；One end of the push rod (13) is axially connected to the center position of the inner top end of the clamping block (12);所述推杆(13)的另一端分别与转板(10)的顶端左右两端外壁相轴接；The other end of the push rod (13) is axially connected with the outer walls of the top left and right ends of the rotating plate (10) respectively;所述转板(10)的中心位置固定连接有方便带动转板(10)转动的转杆(15)；A rotating rod (15) that is convenient to drive the rotating plate (10) to rotate is fixedly connected to the center of the rotating plate (10);所述转杆(15)的顶端贯穿有NiTi记忆合金骨架结构(3)设置有用于转动转杆的转盘(17)；The top end of the rotating rod (15) penetrates the NiTi memory alloy skeleton structure (3) and is provided with a rotating plate (17) for rotating the rotating rod;所述转盘(17)的侧壁开设有凹槽(18)；A groove (18) is provided on the side wall of the turntable (17);所述凹槽(18)的内侧接触有对转盘(17)卡接的伸缩机构。The inner side of the groove (18) is in contact with a telescopic mechanism that is clamped to the turntable (17).2.根据权利要求1所述的基于记忆合金负泊松比单元体的无人机变形翼结构，其特征在于：2. the unmanned aerial vehicle deformation wing structure based on memory alloy negative Poisson's ratio unit body according to claim 1, is characterized in that:所述插接槽(14)的内侧设置有第二导电体(16)；A second conductor (16) is provided on the inner side of the insertion slot (14);所述插接块(6)的外侧安装有与所述第二导电体(16)接触后使有NiTi记忆合金骨架结构(3)与机身(5)形成电路连接的第一导电体(8)。The outer side of the plug-in block (6) is provided with a first electrical conductor (8) which is in contact with the second electrical conductor (16) and then forms a circuit connection between the NiTi memory alloy skeleton structure (3) and the fuselage (5). ).3.根据权利要求1所述的基于记忆合金负泊松比单元体的无人机变形翼结构，其特征在于：3. the unmanned aerial vehicle deformation wing structure based on memory alloy negative Poisson's ratio unit body according to claim 1, is characterized in that:所述伸缩机构包括固定块(19)；The telescopic mechanism includes a fixed block (19);所述固定块(19)的底端与有NiTi记忆合金骨架结构(3)固定连接；The bottom end of the fixed block (19) is fixedly connected with the NiTi memory alloy skeleton structure (3);所述固定块(19)的内腔插接有横杆(20)；A transverse rod (20) is inserted into the inner cavity of the fixing block (19);所述横杆(20)的外侧设置有拉柄(21)；A handle (21) is provided on the outer side of the cross bar (20);所述横杆(20)的内侧设置有凸块(23)；A bump (23) is provided on the inner side of the cross bar (20);所述凸块(23)与凹槽(18)相嵌接；the protrusion (23) is embedded with the groove (18);所述横杆(20)的外壁套接有弹簧(22)；A spring (22) is sleeved on the outer wall of the cross bar (20);所述弹簧(22)的一端与固定块(19)的内壁相抵，且其另一端与凸块(23)的内壁相抵。One end of the spring (22) is abutted against the inner wall of the fixing block (19), and the other end of the spring (22) is abutted against the inner wall of the protruding block (23).4.根据权利要求1-3任一项所述的基于记忆合金负泊松比单元体的无人机变形翼结构，其特征在于：4. The UAV deformable wing structure based on a memory alloy negative Poisson's ratio unit body according to any one of claims 1-3, characterized in that:所述有NiTi记忆合金骨架结构的内腔设置有电热凹槽；The inner cavity with the NiTi memory alloy skeleton structure is provided with an electric heating groove;所述内加热系统通过所述电热凹槽的嵌接在有NiTi记忆合金骨架结构的内部；The inner heating system is embedded in the interior of the NiTi memory alloy skeleton structure through the electric heating groove;所述内加热系统为电热丝(4)；The internal heating system is a heating wire (4);所述凹槽周边材料选用Cu-Al-Ni合金。The material around the groove is Cu-Al-Ni alloy.5.根据权利要求1或3任一项所述的基于记忆合金负泊松比单元体的无人机变形翼结构，其特征在于：5. The unmanned aerial vehicle deformation wing structure based on the negative Poisson's ratio unit body of memory alloy according to any one of claims 1 and 3, is characterized in that:所述转盘(17)的侧壁开设的凹槽(18)数量为偶数，且均匀对称分布在转盘(17)的侧壁。The number of grooves (18) opened on the side wall of the turntable (17) is an even number, and the grooves (18) are evenly and symmetrically distributed on the side wall of the turntable (17).6.根据权利要求1或3任一项所述的基于记忆合金负泊松比单元体的无人机变形翼结构，其特征在于：6. The UAV deformable wing structure based on a memory alloy negative Poisson's ratio unit body according to any one of claims 1 or 3, characterized in that:所述转板(10)为椭圆形转板。The rotating plate (10) is an oval rotating plate.7.根据权利要求1所述的基于记忆合金负泊松比单元体的无人机变形翼结构，其特征在于：7. The unmanned aerial vehicle deformation wing structure based on memory alloy negative Poisson's ratio unit body according to claim 1, is characterized in that:所述机翼蒙皮为聚醚醚酮柔性高分子聚合物与纤维复合材料整体成型，所述机翼蒙皮为柔性曲面蒙皮。The wing skin is integrally formed of polyether ether ketone flexible polymer and fiber composite material, and the wing skin is a flexible curved skin.8.根据权利要求4所述的基于记忆合金负泊松比单元体的无人机变形翼结构，其特征在于：8. The unmanned aerial vehicle deformation wing structure based on memory alloy negative Poisson's ratio unit body according to claim 4, is characterized in that:所述电热凹槽均匀间隙成网状分布在所述有NiTi记忆合金骨架结构内。The electrothermal grooves are distributed in the NiTi memory alloy skeleton structure with uniform gaps.9.根据权利要求1所述的基于记忆合金负泊松比单元体的无人机变形翼结构，其特征在于：9. The UAV deformation wing structure based on memory alloy negative Poisson's ratio unit body according to claim 1, is characterized in that:所述隔热层材料采用玄武岩纤维或HPS静体复合保温膏。The material of the heat insulating layer adopts basalt fiber or HPS static body composite heat insulating paste.

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