CN113415114A

CN113415114A - Cross-medium aircraft based on bionic morphing wing

Info

Publication number: CN113415114A
Application number: CN202110849473.9A
Authority: CN
Inventors: 孟军辉; 罗剑桥; 李文光; 刘莉
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2021-09-21
Anticipated expiration: 2041-07-27
Also published as: CN113415114B

Abstract

The invention discloses a cross-medium aircraft based on bionic morphing wings, and belongs to the field of cross-medium aircrafts. The invention takes a bird wing as a bionic object, simulates the bird wing in the aspect of the whole structure of the wing, and can adapt to different working conditions through the active deformation of the wing and the passive deformation of feathers when flying in the air by the rigid-flexible combination of the bionic variant wing with complex deformation, reduce the resistance of the cross-medium aircraft in the water inlet process by folding the wing backwards before entering the water, improve the posture stability in the water inlet process, and reduce the navigation resistance and avoid the lift redundancy in the back-folded state of the wing when navigating in the water; the duct of the underwater propeller is arranged in the fuselage, after the cross-medium aircraft enters water, the inner spaces of the duct and the wings can be quickly filled with water, the rapid change of the average density of the aircraft can be simply and conveniently realized, and the requirement of the underwater navigation of the cross-medium aircraft on the average density of the aircraft can be met.

Description

Cross-medium aircraft based on bionic morphing wing

Technical Field

The invention belongs to the field of cross-medium aircrafts, and particularly relates to a cross-medium aircraft based on bionic morphing wings.

Background

The cross-medium aircraft is a new-concept amphibious unmanned aircraft which can cruse amphibious in the air and water and can freely pass through an air-water interface, and has military and civil application prospects in various aspects. The design of the cross-medium aircraft relates to a plurality of subject fields, the technical difficulty is high, in addition, the research is started later, no cross-medium aircraft with practical functions still exists in the world nowadays, and the research in the field is basically in the stages of general concept design, key technology attack and model machine verification at present.

The existing cross-medium aircraft generally faces the problems of large impact load and difficult stabilization of posture in the water entering process, and the problem that the average density of the cross-medium aircraft is small during underwater navigation and is not beneficial to submerging.

The existing cross-medium aircraft generally faces the problem of difficult takeoff caused by hydrodynamic resistance and self weight increase in the water outlet process.

The existing cross-medium aircraft mostly adopts the morphing wing, and the underwater resistance is reduced by retracting the wing before entering water. The morphing wing is generally weak in morphing capability, can only be retracted before entering water, and is difficult to use for improving flight performance. In addition, the morphing wing is usually driven by a steering engine completely, and a driving system has a complex structure and large volume and weight.

Therefore, the technical scheme of the invention can better solve the technical problem of the design of the cross-medium aircraft, and has great significance for overcoming or at least alleviating the defects of the prior art.

Disclosure of Invention

The invention discloses a cross-medium aircraft based on bionic morphing wings, which aims to solve the technical problems that: the wing is used as a bionic object, the wing is simulated in the aspect of the overall structure of the wing, the bionic variant wing which is combined rigidly and flexibly and can carry out complex deformation enables the cross-medium aircraft to adapt to different working conditions through the active deformation of the wing and the passive deformation of feathers when flying in the air, the resistance of the cross-medium aircraft in the water entering process is reduced by folding the wing backwards before the water entering, the attitude stability in the water entering process is improved, and the sailing resistance can be reduced and the lift redundancy can be avoided in the wing folding-back state when sailing in water; the duct of the underwater propeller is arranged in the fuselage, after the cross-medium aircraft enters water, the inner spaces of the duct and the wings can be quickly filled with water, the rapid change of the average density of the aircraft can be simply and conveniently realized, and the requirement of the underwater navigation of the cross-medium aircraft on the average density of the aircraft can be met.

The purpose of the invention is realized by the following technical scheme.

The invention discloses a cross-medium aircraft based on bionic morphing wings, which comprises wings, a fuselage, a tail wing, an air propeller, an underwater propeller and an auxiliary takeoff device. The wing takes a bird wing as a bionic object, the rigid-flexible combination and the complex deformation function of the wing are realized by simulating the bird wing in the aspect of the overall structure of the wing, the cross-medium aircraft can adapt to different working conditions through the active deformation of the wing and the passive deformation of feathers when flying in the air, the resistance of the cross-medium aircraft in the water inlet process is reduced by folding the wing backwards before entering water, the attitude stability in the water inlet process is improved, and the sailing resistance can be reduced and the lift redundancy can be avoided in the wing backward folding state when sailing in water.

The single side of the wing includes a wing mounting platform, a wing root, a wing center and a wing tip. The structure of the left side and the right side of the wing is completely symmetrical.

The wing root mainly comprises a wing root front part, a wing root rear part, a wing root shearing deformation driving device, a wing root wing middle connecting device and a wing middle rotary motion driving device; the front part of the wing root adopts a rigid parallelogram mechanism to realize shearing deformation, and the surface adopts a flexible skin which is adaptive to the shearing deformation of the rigid parallelogram mechanism; the rigid parallelogram mechanism comprises a plurality of rigid parallelogram mechanism units, and each unit shares a front connecting rod and a rear connecting rod; the front part of the wing root is provided with a feather inserting plate for inserting feathers. The rear part of the wing root mainly comprises feathers and a wing root feather transmission device; the feather is flexible; the anterior rigidity parallelogram mechanism of wing root can take place initiative rigidity shearing deformation under wing root shearing deformation drive arrangement's drive, and then passes through wing root feather transmission drives the feather rotates, makes every the directional of feather keeps unchangeable, changes from this the glancing angle of wing root, simultaneously wing root rear portion the feather can take place passive flexible deformation under the effect of aerodynamic force, the wing root is through initiative change glancing angle and feather passive deformation adaptation multiple operating mode, promotes the flight performance of striding medium aircraft by a wide margin.

The wing mainly comprises a wing middle front part, a wing middle rear part, a wing middle shearing deformation driving device, a wing middle tip connecting device and a wing tip rotating movement driving device; the middle front part of the wing adopts a rigid parallelogram mechanism to realize shearing deformation, and the surface adopts a flexible skin which is adaptive to the shearing deformation of the rigid parallelogram mechanism; the rigid parallelogram mechanism comprises a plurality of rigid parallelogram mechanism units, and each unit shares a front connecting rod and a rear connecting rod; feather inserting plates for inserting feathers are arranged at the middle front parts of the wings. The middle-rear part of the wing mainly comprises feathers and a transmission device of the feathers in the wing; the feather is flexible; anterior rigidity parallelogram mechanism can take place initiative rigidity shear deformation under shear deformation drive arrangement's drive in the wing, and then passes through feather transmission drives in the wing the feather rotates, makes every the directional of feather keeps unchangeable, changes from this sweep angle in the wing, simultaneously rear portion in the wing the feather can take place passive flexible deformation under the effect of aerodynamic force, through initiatively changing sweep angle and feather passive deformation adaptation multiple operating mode in the wing, promote the flight performance of crossing medium aircraft by a wide margin.

The wing root and wing middle connecting device is positioned on the outer side of the wing root, and the wing middle is connected with the wing root through the wing root and wing middle connecting device; the wing can rotate around the joint with the wing root in a vertical plane under the driving of the wing middle rotary motion driving device, so that the change of the dihedral angle in the wing is realized; the dihedral angle in the wing tip and the wing is always the same, the dihedral angle of the tip varying with the dihedral angle in the wing. The flight performance of the cross-medium aircraft is greatly improved by actively changing the dihedral angle of the wing and the wing tip.

The wing tip mainly comprises a wing-shaped thin shell, a feather inserting plate, feathers and a wing tip feather transmission device; the section of the airfoil-shaped thin shell is in an airfoil shape, and openings are formed in the two sides and the rear part of the airfoil-shaped thin shell; the feather picture peg embedded in the wing section thin shell, the feather is inserted on the feather picture peg, the feather is followed the opening in wing section thin shell rear portion and outside stretches out. Wing tip connecting device is located in the wing outside in the wing, the feather picture peg is followed the inboard opening of wing section thin shell stretches out, through wing tip connecting device in the wing with outside in the wing is connected, and can under wing tip rotary motion drive arrangement's drive, in the horizontal plane around with junction is rotatory in the wing, and then passes through wing tip feather transmission drives the feather is rotatory, realizes from this the wing tip expandes and packs up, simultaneously the feather can take place passive flexible deformation under the effect of aerodynamic force, the wing tip is packed up through initiative expansion and feather passive deformation adaptation multiple operating mode, promotes the flight performance of crossing medium aircraft by a wide margin. In addition, by controlling the wing tip rotary motion driving devices on both sides of the wing, the retraction or expansion degrees of the wing tips on both sides are different, that is, the wing tips on both sides are controlled to be differential, so that the operation effect similar to that of an aileron can be realized.

The wing installation platform comprises a wing root installation platform and a wing root installation platform rotary motion driving device; the wing root is arranged on the wing root mounting platform and can generate shearing deformation relative to the wing root mounting platform under the driving of the wing root shearing deformation driving device; the wing root mounting platform is mounted on the fuselage and can rotate around the junction with the fuselage in a horizontal plane under the driving of the wing root mounting platform rotary motion driving device, so that the single side of the wing is driven to rotate around the junction with the fuselage in the horizontal plane, and the capability of changing the sweep angle of the wing is further improved.

Before the cross-medium aircraft enters water, the wings are folded backwards to the maximum extent through the wing roots and the wings on the two sides of the wings are sheared and deformed backwards to the maximum extent, the wing tips on the two sides of the wings are retracted to the maximum extent, and the wing root mounting platforms on the two sides of the wings rotate backwards to the maximum extent, so that the resistance of the cross-medium aircraft in the water entering process is reduced, the posture stability of the cross-medium aircraft in the water entering process is improved, and the sailing resistance and the lift redundancy can be reduced in the wing folding-back state after the cross-medium aircraft enters water.

The underwater propeller is an electric ducted propeller, and the duct is positioned in the fuselage; the wing is not subjected to sealing and waterproof treatment except for key electrical equipment, namely the internal space of the wing is communicated with the outside; the duct of the underwater propeller is arranged in the fuselage and the inner space of the wing is communicated with the outside, so that after the cross-medium aircraft enters water, the duct and the inner space of the wing are quickly filled with water, the quick change of the average density of the aircraft is simply and conveniently realized, and the requirement of the underwater navigation of the cross-medium aircraft on the average density is met.

Preferably, the wing root mounting platform comprises a main shaft and two secondary shafts; the main shaft is provided with a secondary shaft mounting plate fixedly connected with the main shaft, and the two secondary shafts are mounted on the secondary shaft mounting plate and can rotate by taking the axis of the two secondary shafts as a rotating shaft; the axis of the main shaft and the axes of the two secondary shafts are in the vertical direction; the front and rear connecting rods of the rigid parallelogram mechanism at the front part of the wing root are fixedly connected with the two secondary shafts respectively, and the rigid parallelogram mechanism at the front part of the wing root can be sheared and deformed relative to the wing root mounting platform; the main shaft is connected with the machine body through a rolling bearing, and the wing root mounting platform can rotate in a horizontal plane by taking the axis of the main shaft as a rotating shaft; the rotary motion driving device of the wing root mounting platform comprises a steering engine, a steering engine pull rod and a steering engine pull rod connecting plate; the steering engine is arranged in the machine body, the steering engine pull rod connecting plate is fixedly connected with the main shaft, and the steering engine pull rod is hinged with the rocker arm of the steering engine and the steering engine pull rod connecting plate; the rocker arm of the steering engine can drive the wing root mounting platform to rotate in the horizontal plane by taking the axis of the main shaft as a rotating shaft, and further drive the single side of the wing to rotate in the horizontal plane by taking the axis of the main shaft as a rotating shaft. The wing root is installed and the wing installation platform rotates around the connection position of the airplane body by arranging the main shaft, the secondary shaft, the steering engine pull rod and the steering engine pull rod connection plate.

Preferably, the wing root shearing deformation driving device is a plurality of shape memory alloy springs; the shape memory alloy spring is arranged on one of two diagonal lines of each rigid parallelogram mechanism unit in the rigid parallelogram mechanism at the front part of the wing root, and one shape memory alloy spring is arranged in each rigid parallelogram mechanism unit; the diagonal directions of the shape memory alloy spring are only two, namely a first direction and a second direction; the diagonal directions of the shape memory alloy springs in the adjacent rigid parallelogram mechanism units are different; the diagonal directions of the shape memory alloy springs in the two rigid parallelogram mechanism units separated by one rigid parallelogram mechanism unit are the same; electrifying and contracting the shape memory alloy spring with the diagonal direction as the first direction to drive the rigid parallelogram mechanism to shear and deform towards a certain direction, and stretching the shape memory alloy spring with the diagonal direction as the second direction; the shape memory alloy spring with the diagonal direction as the second direction is electrified and contracted to drive the rigid parallelogram mechanism to shear and deform towards the other direction, and meanwhile, the shape memory alloy spring with the diagonal direction as the first direction is stretched, so that the drive of the shear and deformation of the rigid parallelogram mechanism is realized, and the drive of the shear and deformation of the wing root is further realized; the shape memory alloy spring is arranged on the diagonal line of the rigid parallelogram mechanism unit, the rigid parallelogram mechanism is driven to shear and deform by electrifying and contracting the shape memory alloy spring, so that the wing root shear deformation is realized, and meanwhile, the complexity of a driving system can be reduced by adopting the shape memory alloy spring as a wing root shear deformation driving device, the volume and the weight of the driving system are reduced, and convenience is provided for the deformation of the wing.

Preferably, the in-wing shear deformation driving device is a plurality of shape memory alloy springs; the shape memory alloy spring is arranged on one of two diagonal lines of each rigid parallelogram mechanism unit in the rigid parallelogram mechanism at the front part in the wing, and one shape memory alloy spring is arranged in each rigid parallelogram mechanism unit; the diagonal directions of the shape memory alloy spring are only two, namely a first direction and a second direction; the diagonal directions of the shape memory alloy springs in the adjacent rigid parallelogram mechanism units are different; the diagonal directions of the shape memory alloy springs in the two rigid parallelogram mechanism units separated by one rigid parallelogram mechanism unit are the same; electrifying and contracting the shape memory alloy spring with the diagonal direction as the first direction to drive the rigid parallelogram mechanism to shear and deform towards a certain direction, and stretching the shape memory alloy spring with the diagonal direction as the second direction; the shape memory alloy spring with the diagonal direction as the second direction is electrified and contracted to drive the rigid parallelogram mechanism to shear and deform towards the other direction, and meanwhile, the shape memory alloy spring with the diagonal direction as the first direction is stretched, so that the drive of the shear and deformation of the rigid parallelogram mechanism is realized, and the drive of the shear and deformation in the wing is further realized; the shape memory alloy spring is arranged on the diagonal line of the rigid parallelogram mechanism unit, the shape memory alloy spring is electrified and contracted to drive the rigid parallelogram mechanism to shear and deform, so that the shearing and deformation in the wing are realized, and meanwhile, the shape memory alloy spring is adopted as a shearing and deformation driving device in the wing, so that the complexity of a driving system can be reduced, the volume and the weight of the driving system are reduced, and convenience is provided for the deformation of the wing.

Preferably, the wing root and wing middle connecting device is two flexible hinges, the wing middle rotary driving device is a plurality of shape memory alloy springs and is arranged at the upper edge and the lower edge of the connecting part of the wing root and the wing middle; the shape memory alloy spring positioned on the upper edge is electrified and contracted to drive the wing to deflect upwards, and meanwhile, the shape memory alloy spring on the lower edge is stretched; the shape memory alloy spring positioned on the lower edge is electrified and contracted to drive the wing to deflect downwards, and meanwhile, the shape memory alloy spring on the upper edge is stretched, so that the driving of the rotary motion in the wing is realized; through the wing root with shape memory alloy spring is arranged at the upper edge and the lower edge of the junction in the wing, the shape memory alloy spring is electrified to contract and drives the wing to rotate, so that the change of the dihedral angle in the wing is realized, and meanwhile, the shape memory alloy spring is adopted as a wing middle rotation movement driving device, so that the complexity of a driving system can be reduced, the volume and the weight of the driving system are reduced, and the convenience is provided for the configuration change of the wing.

Preferably, the wing-middle wing tip connecting device is a wing tip mounting platform, the wing tip mounting platform is a column hinge fixed on the middle outer side of the wing, and a feather inserting plate of the wing tip extends out of an opening on the inner side of the wing-shaped thin shell and is hinged with the middle outer side of the wing through the wing tip mounting platform; the wing tip rotary motion driving device comprises a telescopic rod, a telescopic rod mounting platform, a shape memory alloy spring and a common spring; the telescopic rod specifically comprises a telescopic rod primary rod and a telescopic rod secondary rod, the outer diameter of the telescopic rod secondary rod is the same as the inner diameter of the telescopic rod primary rod, and the telescopic rod secondary rod is inserted into the telescopic rod primary rod; the telescopic rod primary rod is arranged on the telescopic rod mounting platform, the telescopic rod mounting platform is arranged on the middle outer side of the wing, and the telescopic rod primary rod is hinged with the middle outer side of the wing through the telescopic rod mounting platform; the secondary rod of the telescopic rod is hinged with the feather inserting plate at the wing tip; the common spring is arranged in the primary rod of the telescopic rod and is always in a compressed state, and can exert force on the secondary rod of the telescopic rod; the shape memory alloy spring is arranged outside the telescopic rod, and two ends of the shape memory alloy spring are respectively fixed on the telescopic rod primary rod and the telescopic rod secondary rod; the shape memory alloy spring is electrified to contract to drive the telescopic rod to contract, the telescopic rod drives the feather inserting plate of the wing tip to rotate inwards, and then the feather of the wing tip is driven to converge inwards through the wing tip feather transmission device; the shape memory alloy spring loses acting force after power failure, under the action of the common spring, the shape memory alloy spring restores to the original length, the telescopic rod extends and drives the feather inserting plate of the wing tip to rotate outwards, and then the feather of the wing tip is driven to expand outwards through the wing tip feather transmission device, so that the driving of the rotary motion of the wing tip is realized; and a common spring and a shape memory alloy spring are respectively arranged inside and outside the telescopic rod, so that the shape memory alloy spring is controlled to be powered on and powered off, and the retraction and the expansion of the wing tip are realized.

Preferably, the wing root feather transmission device is an elastic rope, and two ends of the elastic rope are respectively fixed on a left connecting rod and a right connecting rod of the rigid parallelogram mechanism at the front part of the wing root; the elastic rope connects the root of each feather of the wing root in series; the rigid parallelogram mechanism generates shearing deformation to drive the feathers to rotate around the hinged part of the feather inserting plate through the elastic ropes, so that the direction of each feather of the wing root is kept unchanged, and the transmission from the shearing deformation of the rigid parallelogram mechanism at the front part of the wing root to the feather rotation is realized; the transmission from the rigid parallelogram mechanism at the front part of the wing root to the wing root feather is realized by arranging an elastic rope.

Preferably, the feather transmission device in the wing is an elastic rope, and two ends of the elastic rope are respectively fixed on a left connecting rod and a right connecting rod of the rigid parallelogram mechanism at the front middle part of the wing; the elastic rope connects the root of each feather in the wing in series; the rigid parallelogram mechanism generates shearing deformation to drive the feathers to rotate around the hinged part of the feather inserting plate through the elastic ropes, so that the direction of each feather in the wing is kept unchanged, and the transmission from the shearing deformation of the rigid parallelogram mechanism at the middle front part of the wing to the feather rotation is realized; the transmission from the rigid parallelogram mechanism at the front part in the wing to the feather in the wing is realized by arranging an elastic rope.

Preferably, the wing tip feather transmission device is an elastic rope, two ends of the elastic rope are respectively fixed to the outer side of the wing and the root of the feather on the outermost side of the wing tip, the feather on the outermost side of the wing tip is fixedly connected with the feather inserting plate of the wing tip, and the rest of the feathers on the inner side can rotate around the hinge part of the feather inserting plate of the wing tip; the elastic rope connects the root of each feather of the wingtip in series; the feather inserting plate of the wing tip rotates to drive the feathers to rotate around the hinged part of the feather inserting plate through the elastic rope, so that the feathers of the wing tip are converged or unfolded, and the transmission from the rotation of the feather inserting plate of the wing tip to the rotation of the feathers is realized; the transmission from the feather inserting plate of the wing tip to the wing tip feather is realized by arranging an elastic rope.

Preferably, the duct inlet and the duct outlet of the underwater propeller are respectively positioned at the neck and the tail of the fuselage; a baffle is arranged at the inlet of the duct, and the baffle is closed when the medium-crossing aircraft flies in the air, so that the influence of the duct on the aerodynamic appearance is avoided; after entering water, the baffle is automatically opened under the action of water pressure; the duct of the underwater propeller is arranged in the fuselage and the inner space of the wing is communicated with the outside, so that after the cross-medium aircraft enters water, the duct and the inner space of the wing are quickly filled with water, the quick change of the average density of the aircraft is simply and conveniently realized, and the requirement of the underwater navigation of the cross-medium aircraft on the average density is met.

Preferably, the shape of the machine body is formed by splicing the head of the kingfisher and the body of the psyllid according to a certain proportion.

Preferably, the tail is a full-motion V-shaped tail.

Preferably, the aerial propeller is a motor propeller, and blades of the propeller can be folded; the air propeller is arranged on the upper side of the tail part of the machine body.

Preferably, the auxiliary takeoff device comprises a high-pressure gas cylinder and an air bag, the high-pressure gas cylinder is positioned in the aircraft body, the air bag is attached to two sides of the abdomen of the aircraft body, and the rear part of the air bag is provided with an air jet; the high-pressure gas cylinder is used for inflating the air bag; the air bag can inject air backwards through the air injection port.

The invention discloses a working method of a cross-medium aircraft based on bionic morphing wings, which comprises the following steps: during flying in the air, the wings can adapt to various working conditions through active deformation of the wings and passive deformation of feathers, so that better flight performance is obtained; before entering water, the resistance of the cross-medium aircraft in the water entering process is reduced by folding the wings backwards to the maximum extent, and meanwhile, the posture stability in the water entering process is improved; in the process of entering water, the inner spaces of the duct and the wing of the underwater propeller can be quickly filled with water, so that the average density of the aircraft can be quickly changed, and the requirement of the cross-medium aircraft on the average density of the aircraft during underwater navigation is met; after entering water, the air propeller stops working, and the underwater propeller starts working; when sailing in water, the wing is kept in a backward folding state, the sailing resistance is reduced, and the lift redundancy is avoided; when taking off on water, the aircraft floats to the water surface, the air propeller and the underwater propeller work simultaneously, the high-pressure gas cylinder inflates the air bag, the air bag is inflated to serve as a floating barrel, extra buoyancy is provided, draft is reduced, body drainage is promoted, sliding resistance is reduced, stability in the taking off process is improved, an air jet port at the tail part of the air bag continuously jets air backwards, extra thrust is provided, and meanwhile low-head moment caused by eccentricity of thrust of the air propeller is balanced, and the aircraft takes off in a sliding mode.

Has the advantages that:

1. the invention discloses a cross-medium aircraft based on bionic morphing wings, which takes bird wings as bionic objects, the bionic morphing wing which is combined rigidly and flexibly and can carry out complex morphing is adopted to ensure that the cross-medium aircraft can adapt to different working conditions through the active morphing of the wing and the passive morphing of feathers when flying in the air, before entering water, the resistance of the cross-medium aircraft in the water entering process is reduced by folding the wings backwards, the posture stability in the water entering process is improved, the sailing resistance can be reduced and the lift redundancy can be avoided in the wing backwards folding state during sailing in water, the wing has strong deformability, can meet the requirement of folding the wing backwards before entering water, can adapt to various working conditions through active deformation of the wing and passive deformation of feathers during air flight, and greatly improves the flight performance; by adopting the shape memory alloy spring to drive the wing to deform, the complexity of the driving system is reduced, the volume and the weight of the driving system are reduced, and convenience is provided for wing deformation.

2. The invention discloses a cross-medium aircraft based on bionic morphing wings, which greatly reduces the difficulty of takeoff on water by arranging air bags serving as floating bowls and capable of spraying air backwards on two sides of the belly.

3. The invention discloses a cross-medium aircraft based on bionic morphing wings, which does not carry out sealing and waterproof treatment except key electrical equipment; the duct of the underwater propeller is positioned in the fuselage; the duct of the underwater propeller is arranged in the fuselage and the inner space of the wing is communicated with the outside, so that after the cross-medium aircraft enters water, the duct of the underwater propeller and the inner space of the wing are quickly filled with water, the rapid change of the average density of the aircraft is simply and conveniently realized, and the requirement of the underwater navigation of the cross-medium aircraft on the average density of the aircraft is met.

Drawings

Fig. 1 is a schematic diagram of a cross-medium aircraft based on bionic morphing wings.

Fig. 2 is another schematic diagram of a cross-medium aircraft based on bionic morphing wings.

Fig. 3 is a schematic diagram of the wing state and the propeller state of an air thruster during water entry and underwater navigation.

Fig. 4 is a schematic view of the airbag after inflation.

FIG. 5 is a schematic top view of a one-sided wing layout.

FIG. 6 is a schematic top view of a layout after a single-sided wing reconfiguration.

Fig. 7 is a schematic structural view of a wing mounting platform.

Fig. 8 is a schematic structural view of a wing root.

Fig. 9 is a schematic structural view of the joint between the wing root and the wing.

Figure 10 is a schematic view of the wing tip and the junction between the tip and the wing.

Wherein, 1-wing, 2-fuselage, 3-empennage, 4-motor propeller, 5-duct entrance, 6-duct exit, 7-airbag, 8-jet, 11-wing installation platform, 12-wing root, 13-wing middle, 14-wing tip, 111-main shaft, 112-secondary shaft, 113-steering engine pull rod, 121-wing root leading edge, 122-wing root main beam, 123-wing root wing rib, 124-wing root outside wing rib, 125-wing root stringer, 126-wing root trailing edge stringer, 127-wing root trailing edge stringer connecting piece, 128-wing root feather inserting plate, 129-wing root feather, 1210-wing root elastic rope, 1211-wing root shape memory alloy spring, 1212-flexible hinge, 1213-flexible hinge connecting plate, 1214-flexible hinge safety bolt, 1215-wing root middle connection shape memory alloy spring, 131-wing middle inside wing rib, 132-wing middle outside wing rib, 133-wing tip mounting platform, 134-wing tip safety bolt, 135-telescopic rod mounting platform, 136-telescopic rod primary rod, 137-telescopic rod secondary rod, 138-common spring, 139-telescopic rod shape memory alloy spring, 141-wing tip feather inserting plate, 142-wing type thin shell, 143-wing tip feather, 144-wing tip elastic rope.

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.

As shown in fig. 1 and 2, the present embodiment has a structure consistent with the disclosure of the invention, and includes a wing 1, a fuselage 2, a tail 3, an air propeller, an underwater propeller, and an assisted take-off device. Wherein, fin 3 is the V-arrangement fin of full dynamic formula, and aerial propeller is a motor propeller 4, and underwater propulsor is an electronic duct propeller, and motor and duct are located the fuselage inside, and the supplementary take-off device includes high-pressure gas cylinder and two gasbag 7, and high-pressure gas cylinder is located the fuselage inside, and gasbag 7 attaches in fuselage belly both sides.

Referring to fig. 5, a single side of the wing 1 comprises a wing mounting platform 11, a wing root 12, a wing centre 13 and a wing tip 14. The wing 1 has a completely symmetrical configuration on both the left and right sides.

In the present embodiment, the wing root 12 includes a wing root front portion, a wing root rear portion, a wing root shear deformation driving device, a wing root wing middle connection device, and a wing middle rotation movement driving device. Referring to fig. 8, the wing root front portion specifically includes a wing root leading edge 121, a wing root main beam 122, three wing root ribs 123, a wing root stringer 125, a wing root trailing edge stringer 126, a wing root trailing edge stringer connector 127, and a wing root feather insertion plate 128. The outboard rib 124 is the outboard-most of the three root ribs 123 of the root 12. The rear part of the wing root comprises wing root feathers 129 and a wing root feather transmission device which is a wing root elastic rope 1210. The wing root main beam 122, the wing root stringer 125 and the wing root feather insertion plate 128 are hinged to the wing root rib 123. The two wing root main girders 122, the two wing root stringers 125, the wing root feather insertion plate 128, and the three wing root ribs 123 constitute a rigid parallelogram mechanism in the front of the wing root 12, and the rigid parallelogram mechanism in the front of the wing root 12 has two rigid parallelogram mechanism units. The wing root leading edge 121 is fixedly connected to the wing root main beam 122 located forward. The wing root feathers 129 are hinged on the wing root feather inserting plates 128, the wing root feathers 129 are connected by wing root elastic ropes 1210, and two ends of the wing root elastic ropes 1210 are fixed on the adjacent wing root wing ribs 123. Two wing root trailing edge stringers 126 are respectively lapped on the upper end and the lower end of the tail of the wing root wing rib 123, the two wing root trailing edge stringers 126 are connected through a plurality of wing root trailing edge stringer connecting pieces 127, and the wing root trailing edge stringers 126 are fixedly connected with the wing root trailing edge stringer connecting pieces 127. The root trailing edge stringers 126 are in frictional contact with the root rib 123 and the outboard root rib 124. The wing root leading edge 121, the wing root stringer 125, the wing root trailing edge stringer 126 and the wing root wing rib 123 support the flexible skin together, and the tension of the flexible skin can ensure that the wing root trailing edge stringer 126 cannot be loosened. For simplicity, only 1 winged root feather 129 is shown in FIG. 8. The wing root shear deformation driving device is two wing root shape memory alloy springs 1211, each wing root shape memory alloy spring 1211 is positioned on one of two diagonals of a quadrangle formed by two wing root main beams 122 and two wing root wing ribs 123, and the directions of the diagonals of the adjacent wing root shape memory alloy springs 1211 are different. The two ends of the wing root shape memory alloy spring 1211 are secured to the wing root spar 122. When one wing-root shape memory alloy spring 1211 is electrified and contracted, the rigid parallelogram mechanism is driven to shear and deform in a certain direction, meanwhile, the adjacent wing-root shape memory alloy spring 1211 is stretched, and when the adjacent wing-root shape memory alloy spring 1211 is electrified and contracted, the rigid parallelogram mechanism is driven to shear and deform in the opposite direction, meanwhile, the wing-root shape memory alloy spring 1211 is stretched, and therefore the driving of the shear and deformation of the rigid parallelogram mechanism is realized. Due to the action of the wing root elastic rope 1210, the wing root feather 129 rotates around the hinge point with the wing root feather insertion plate 128 along with the shearing deformation of the rigid parallelogram mechanism, so that the orientation of each wing root feather 129 is kept unchanged when the wing root feather insertion plate 128 rotates, and therefore the rear part of the wing root 12 also generates the deformation similar to the shearing deformation. The sweep angle is changed by subjecting the entire wing root 12 to shear deformation. Referring to fig. 9, the intra-root wing connection means specifically includes a flexible hinge 1212, a flexible hinge connection plate 1213, and a flexible hinge safety latch 1214. The specific components connected at both ends of the flexible hinge 1212 are the outboard rib 124 of the wing root and the inboard rib 131 of the wing center. The flexible hinge 1212 is connected to the outboard rib 124 of the wing root and the inboard rib 131 of the wing, in particular by a flexible hinge web 1213 and a flexible hinge safety latch 1214. The wing middle rotary motion driving device is formed by connecting shape memory alloy springs 1215 in eight wing root wings, and the shape memory alloy springs 1215 are respectively fixed on the upper edges and the lower edges of the wing root outer side wing rib 124 and the wing middle inner side wing rib 131. The electrical contraction of the root outside rib 124 and the mid-wing shape memory alloy spring 1215 attached to the upper edge of the mid-wing inside rib 131 will cause the mid-wing 13 to deflect upward while stretching the root outside rib 124 and the mid-wing shape memory alloy spring 1215 attached to the lower edge of the mid-wing inside rib 131. Energizing the mid-root aft shape memory alloy spring 1215 on the lower edge of the outboard rib 124 and the inboard rib 131 of the wing contracts will cause the mid-wing 13 to deflect downward while simultaneously stretching the mid-root aft shape memory alloy spring 1215 on the upper edge of the outboard rib 124 and the inboard rib 131 of the wing, thereby effecting actuation of the change in dihedral of the mid-wing 13. When the wing middle 13 changes the dihedral, the wing tip 14 changes the dihedral with the wing middle 13.

In the present embodiment, the wing center 13 includes a wing middle front portion, a wing middle rear portion, a wing middle shear deformation driving device, a wing middle tip connecting device, and a tip rotation movement driving device. The wing midsection front, wing midsection rear and wing midsection shear deformation driving devices are similar in configuration to the wing root front, wing root rear and wing root shear deformation driving devices, respectively, except that the wing center 13 has four rigid parallelogram mechanism units. The principle of shear deformation of the wing middle 13 is the same as that of the wing root 12, and the change of the sweep angle can be realized by the shear deformation of the whole wing middle 13.

Referring to figure 10, in this embodiment the wing tip 14 comprises an aerofoil shell 142, a tip feather insertion plate 141, eleven tip feathers 143 and a tip feather actuator, which is a tip elastic cord 144. For simplicity, only the outermost wing tip feathers 143 are shown in the tenth drawing. The wing tip feathers 143 are mounted on the wing tip feather insertion plate 141, and the wing tip feather insertion plate 141 is embedded in the wing-shaped thin shell 142. The aerofoil shell 142 serves to maintain the aerodynamic profile of the wing tip 14. The wing tip feathers 143 are connected by wing tip elastic ropes 144. The wing tip feather 143 shown in figure 10 is fixed relative to the wing tip feather insertion plate 141, the other wing tip feathers 143, not shown on the inside, are able to rotate about the hinge with the wing tip feather insertion plate 141, and the wing tip elastic cord 144 is attached at one end to the wing tip feathers 143 shown in figure 10 and at the other end to the wing centre and outer wing ribs 132. The wing to wing tip attachment means comprises a wing tip mounting platform 133 and a wing tip safety latch 134, the wing tip mounting platform 133 being secured to the wing inboard rib 132 by the wing tip safety latch 134. The wing tip feather insertion plate 141 is hinged to the wing middle and outer lateral wing ribs 132 through the wing tip mounting platform 133. The wing tip rotary motion driving device comprises 1 telescopic rod, a telescopic rod mounting platform 135, a telescopic rod shape memory alloy spring 139 and a common spring 138. The telescopic rod specifically comprises a telescopic rod primary rod 136 and a telescopic rod secondary rod 137, the outer diameter of the telescopic rod secondary rod 137 is the same as the inner diameter of the telescopic rod primary rod 136, and the telescopic rod secondary rod 137 is inserted into the telescopic rod primary rod 136. The telescoping rod primary rod 136 is mounted on a telescoping rod mounting platform 135, and the telescoping rod mounting platform 135 is mounted on the wing mid-outboard rib 132. The telescopic rod secondary rod 137 is hinged with the wing tip feather inserting plate 141. The common spring 138 is disposed inside the primary rod 136 and is always in a compressed state, and can apply a force to the secondary rod 137. The telescopic rod shape memory alloy spring 139 is arranged outside the telescopic rod, and two ends of the telescopic rod shape memory alloy spring are respectively fixed on the telescopic rod primary rod 136 and the telescopic rod secondary rod 137. The telescopic rod shape memory alloy spring 139 is electrified and contracted to drive the telescopic rod to contract, and the telescopic rod drives the wing tip feather inserting plate 141 and the wing tip feathers 143 shown in fig. 10 to rotate inwards, so that the other ten wing tip feathers 143 are driven to converge inwards through the wing tip elastic ropes 144. The telescopic rod shape memory alloy spring 139 loses acting force after power failure, under the action of the common spring 138, the telescopic rod shape memory alloy spring 139 recovers to the original length, the telescopic rod extends and drives the wing tip feather inserting plate 141 and the wing tip feather 143 shown in fig. 10 to rotate outwards, and then the other ten wing tip feathers 143 are driven to expand outwards through the wing tip elastic ropes 144, so that the wing tip 14 is retracted and expanded. By controlling the wing tip rotary motion driving devices on both sides of the wing 1, the retraction or expansion degrees of the wing tips 14 on both sides are different, namely, the differential motion of the wing tips 14 on both sides is controlled, and the control effect similar to that of an aileron can be realized.

Referring to fig. 7, in the present embodiment, the wing mounting platform 11 includes a wing root mounting platform and a wing root mounting platform rotational motion drive device. The wing root mounting platform comprises 1 main shaft 111 and two secondary shafts 112, wherein the main shaft 111 is provided with a secondary shaft mounting plate fixedly connected with the main shaft 111, and the two secondary shafts 112 are mounted on the secondary shaft mounting plate and can rotate by taking the axis of the two secondary shafts as a rotating shaft; the axis of the main shaft 111 and the axes of the two secondary shafts 112 are in the vertical direction. The two wing root main beams 122 are respectively fixedly connected with the two secondary shafts 112, and the wing root main beams 122 can rotate around the wing root mounting platform by taking the secondary shafts 112 as the shafts under the drive of the wing root shape memory alloy springs 1211, so that the wing root 12 generates shearing deformation relative to the wing root mounting platform. The main shaft 111 is connected to the body 2 through a rolling bearing. The wing root mounting platform rotary motion driving device comprises a steering engine, a steering engine pull rod 113 and a steering engine pull rod connecting plate. The steering engine is installed in the machine body 2, a steering engine pull rod connecting plate is fixedly connected with the main shaft, and a steering engine pull rod 113 is hinged to the steering engine pull rod connecting plate and a rocker arm of the steering engine. The wing root mounting platform can be driven by a steering engine to rotate around the fuselage 2 by taking the main shaft 111 as a rotating shaft.

Fig. 6 shows the layout of the wing 1 when the wing root 12 is changed to a sweep angle of 45 degrees, the wing middle 13 is changed to a sweep angle of 45 degrees, and the wing tip 14 is rotated inward by 45 degrees.

Referring to the wing 1 in fig. 3, in this embodiment, before the cross-medium aircraft based on the bionic morphing wing enters water, the wing 1 is folded backwards with the maximum amplitude and attached to two sides of the fuselage 2, specifically, the wing installation platform 11 rotates backwards around the connection with the fuselage 2, at the same time, the wing root 12 and the wing middle 13 shear and deform backwards, and the wing tip 14 rotates inwards. The deformation scheme can reduce the hydrodynamic resistance of the cross-medium aircraft based on the bionic morphing wing, and avoids the adverse effect caused by the overlarge lifting surface.

In the present embodiment, the front of the body 2 has a shape of a bird head, and the rear has a shape of a body of a dragon louse. By adopting the appearance design, the resistance characteristic and the attitude stability of the cross-medium aircraft based on the bionic morphing wing in the air-water crossing process and underwater navigation can be improved.

Referring to fig. 2, in the present embodiment, the duct inlet 5 and duct outlet 6 are located at the neck and aft of the fuselage 2, respectively. The position of the duct inlet 5 is provided with a baffle, and when the cross-medium aircraft based on the bionic morphing wing flies in the air, the baffle is closed, so that the influence of the duct on the aerodynamic appearance is avoided. After entering water, the baffle is automatically opened under the action of water pressure, and the underwater propeller starts to work.

In this embodiment, the wing 1 is not hermetically sealed and waterproofed except for critical electrical equipment. When the cross-medium aircraft based on the bionic morphing wing enters water, the inner spaces of the wing root 12 and the wing middle 13 and the duct of the underwater propeller are filled with water rapidly, the average density of the aircraft is changed rapidly, and the aircraft can enter the water and dive smoothly.

In this embodiment, the propeller of the motor propeller 4 can be folded, and the state of the folded blade is as shown by the motor propeller 4 in fig. 3. When the cross-medium aircraft based on the bionic morphing wing navigates underwater, the air propeller stops working, and the blades are folded backwards under the action of water flow, so that the navigation resistance is reduced.

Referring to fig. 2 and 4, in the present embodiment, the airbags 7 are located on both sides of the abdomen of the fuselage 2, and the air outlets 8 are located on the rear portion of the airbags 7. The air bag 7 shown in fig. 2 is in an uninflated state, the air bag 7 is tightly attached to the fuselage 2, and the hydrodynamic appearance of the cross-medium aircraft based on the bionic morphing wing is not influenced. The air bag 7 is shown in an inflated state in fig. 4, and the air bag 7 is continuously blown backwards through the air blowing port 8 while the air bag 7 is inflated by the high-pressure air bottle. When the cross-medium aircraft based on the bionic morphing wing takes off from water, the auxiliary take-off device starts to work, the high-pressure gas cylinder inflates the gas bag 7, the gas bag 7 can serve as a floating cylinder after being inflated, extra buoyancy is provided, draft is reduced, drainage of an engine body is promoted, sliding resistance is reduced, and stability in the take-off process is improved. The air bag 7 is inflated and simultaneously continuously injects air backwards through the air injection port 8, so that additional thrust can be provided, and head-lowering moment caused by thrust eccentricity of an engine of the air propeller can be balanced. After the takeoff on the water is finished, the auxiliary takeoff device stops working, the high-pressure gas cylinder stops inflating the gas bag 7, the gas in the gas bag 7 is completely released through the gas jet 8, and the gas bag 7 returns to the uninflated state.

Finally, it should be pointed out that: the above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A cross-medium aircraft based on bionic morphing wings is characterized in that: comprises wings, a fuselage, a tail wing, an air propeller, an underwater propeller and an auxiliary takeoff device; the wing takes a bird wing as a bionic object, the rigid-flexible combination and the complex deformation function of the wing are realized by simulating the bird wing in the aspect of the overall structure of the wing, the cross-medium aircraft can adapt to different working conditions through the active deformation of the wing and the passive deformation of feathers when flying in the air, the resistance of the cross-medium aircraft in the water inlet process is reduced by folding the wing backwards before entering water, the attitude stability in the water inlet process is improved, and the sailing resistance can be reduced and the lift redundancy can be avoided in the wing backward folding state when sailing in water.

2. The cross-medium aircraft based on the bionic morphing wing, which is characterized in that: the single side of the wing comprises a wing mounting platform, a wing root, a wing middle and a wing tip; the structures of the left side and the right side of the wing are completely symmetrical;

the wing root mainly comprises a wing root front part, a wing root rear part, a wing root shearing deformation driving device, a wing root wing middle connecting device and a wing middle rotary motion driving device; the front part of the wing root adopts a rigid parallelogram mechanism to realize shearing deformation, and the surface adopts a flexible skin which is adaptive to the shearing deformation of the rigid parallelogram mechanism; the rigid parallelogram mechanism comprises a plurality of rigid parallelogram mechanism units, and each unit shares a front connecting rod and a rear connecting rod; a feather inserting plate for inserting feathers is arranged at the front part of the wing root; the rear part of the wing root mainly comprises feathers and a wing root feather transmission device; the feather is flexible; the rigid parallelogram mechanism at the front part of the wing root can generate active rigid shearing deformation under the drive of the wing root shearing deformation driving device, and further the wing root feather transmission device drives the feathers to rotate, so that the direction of each feather is kept unchanged, the sweep angle of the wing root is changed, meanwhile, the feathers at the rear part of the wing root can generate passive flexible deformation under the action of aerodynamic force, the wing root adapts to various working conditions through active change of the sweep angle and passive deformation of the feathers, and the flight performance of the cross-medium aircraft is greatly improved;

the wing mainly comprises a wing middle front part, a wing middle rear part, a wing middle shearing deformation driving device, a wing middle tip connecting device and a wing tip rotating movement driving device; the middle front part of the wing adopts a rigid parallelogram mechanism to realize shearing deformation, and the surface adopts a flexible skin which is adaptive to the shearing deformation of the rigid parallelogram mechanism; the rigid parallelogram mechanism comprises a plurality of rigid parallelogram mechanism units, and each unit shares a front connecting rod and a rear connecting rod; feather inserting plates for inserting feathers are arranged at the middle front parts of the wings; the middle-rear part of the wing mainly comprises feathers and a transmission device of the feathers in the wing; the feather is flexible; the rigid parallelogram mechanism at the front part of the wing can generate active rigid shearing deformation under the driving of the shearing deformation driving device in the wing, and further drives the feathers to rotate through the feather transmission device in the wing, so that the direction of each feather is kept unchanged, the sweep angle in the wing is changed, meanwhile, the feathers at the rear part of the wing can generate passive flexible deformation under the action of aerodynamic force, the sweep angle and the feather passive deformation are actively changed in the wing to adapt to various working conditions, and the flight performance of the cross-medium aircraft is greatly improved;

the wing root and wing middle connecting device is positioned on the outer side of the wing root, and the wing middle is connected with the wing root through the wing root and wing middle connecting device; the wing can rotate around the joint with the wing root in a vertical plane under the driving of the wing middle rotary motion driving device, so that the change of the dihedral angle in the wing is realized; the dihedral angle in the wing tip and the wing is always the same, the dihedral angle of the wing tip varying with the dihedral angle in the wing; the flight performance of the cross-medium aircraft is greatly improved by actively changing the dihedral angle of the wing and the wing tip;

the wing tip mainly comprises a wing-shaped thin shell, a feather inserting plate, feathers and a wing tip feather transmission device; the section of the airfoil-shaped thin shell is in an airfoil shape, and openings are formed in the two sides and the rear part of the airfoil-shaped thin shell; the feather inserting plate is embedded in the wing-shaped thin shell, the feathers are inserted on the feather inserting plate, and the feathers extend out of openings at the rear part and the outer side of the wing-shaped thin shell; the wing middle wing tip connecting device is located on the outer side of the wing, the feather plugboard extends out of an opening on the inner side of the wing-shaped thin shell, is connected with the outer side of the wing middle wing tip connecting device and can rotate around a connection part in the wing in a horizontal plane under the driving of the wing tip rotating motion driving device, and then the feather is driven to rotate through the wing tip feather transmission device, so that the wing tip is unfolded and folded, meanwhile, the feather can be passively flexibly deformed under the action of aerodynamic force, the wing tip is actively unfolded and folded and adapts to various working conditions through passive deformation of the feather, and the flight performance of the cross-medium aircraft is greatly improved; in addition, by controlling the wing tip rotary motion driving devices on the two sides of the wing, the retraction or expansion degrees of the wing tips on the two sides are different, namely the wing tips on the two sides are controlled to be in differential motion, and the control effect similar to that of an aileron can be realized;

the wing installation platform comprises a wing root installation platform and a wing root installation platform rotary motion driving device; the wing root is arranged on the wing root mounting platform and can generate shearing deformation relative to the wing root mounting platform under the driving of the wing root shearing deformation driving device; the wing root mounting platform is mounted on the fuselage and can rotate around the connection part with the fuselage in a horizontal plane under the driving of the wing root mounting platform rotary motion driving device, so that the single side of the wing is driven to rotate around the connection part with the fuselage in the horizontal plane, and the capability of changing the sweep angle of the wing is further improved;

before the cross-medium aircraft enters water, the wings are folded backwards to the maximum extent through the wing roots and the wings on the two sides of the wings are sheared and deformed backwards to the maximum extent, the wing tips on the two sides of the wings are retracted to the maximum extent, and the wing root mounting platforms on the two sides of the wings are rotated backwards to the maximum extent, so that the resistance of the cross-medium aircraft in the water entering process is reduced, the posture stability of the cross-medium aircraft in the water entering process is improved, and the sailing resistance and the lift redundancy can be reduced in the wing folding-back state after the cross-medium aircraft enters water;

3. The cross-medium aircraft based on the bionic morphing wing, which is characterized in that: the wing root mounting platform comprises a main shaft and two secondary shafts; the main shaft is provided with a secondary shaft mounting plate fixedly connected with the main shaft, and the two secondary shafts are mounted on the secondary shaft mounting plate and can rotate by taking the axis of the two secondary shafts as a rotating shaft; the axis of the main shaft and the axes of the two secondary shafts are in the vertical direction; the front and rear connecting rods of the rigid parallelogram mechanism at the front part of the wing root are fixedly connected with the two secondary shafts respectively, and the rigid parallelogram mechanism at the front part of the wing root can be sheared and deformed relative to the wing root mounting platform; the main shaft is connected with the machine body through a rolling bearing, and the wing root mounting platform can rotate in a horizontal plane by taking the axis of the main shaft as a rotating shaft; the rotary motion driving device of the wing root mounting platform comprises a steering engine, a steering engine pull rod and a steering engine pull rod connecting plate; the steering engine is arranged in the machine body, the steering engine pull rod connecting plate is fixedly connected with the main shaft, and the steering engine pull rod is hinged with the rocker arm of the steering engine and the steering engine pull rod connecting plate; the rocker arm of the steering engine can drive the wing root mounting platform to rotate in the horizontal plane by taking the axis of the main shaft as a rotating shaft, and further drive the single side of the wing to rotate in the horizontal plane by taking the axis of the main shaft as a rotating shaft; the wing root is installed and the wing installation platform rotates around the connection position of the airplane body by arranging the main shaft, the secondary shaft, the steering engine pull rod and the steering engine pull rod connection plate.

4. The cross-medium aircraft based on the bionic morphing wing, which is characterized in that: the wing root shearing deformation driving device is a plurality of shape memory alloy springs; the shape memory alloy spring is arranged on one of two diagonal lines of each rigid parallelogram mechanism unit in the rigid parallelogram mechanism at the front part of the wing root, and one shape memory alloy spring is arranged in each rigid parallelogram mechanism unit; the diagonal directions of the shape memory alloy spring are only two, namely a first direction and a second direction; the diagonal directions of the shape memory alloy springs in the adjacent rigid parallelogram mechanism units are different; the diagonal directions of the shape memory alloy springs in the two rigid parallelogram mechanism units separated by one rigid parallelogram mechanism unit are the same; electrifying and contracting the shape memory alloy spring with the diagonal direction as the first direction to drive the rigid parallelogram mechanism to shear and deform towards a certain direction, and stretching the shape memory alloy spring with the diagonal direction as the second direction; the shape memory alloy spring with the diagonal direction as the second direction is electrified and contracted to drive the rigid parallelogram mechanism to shear and deform towards the other direction, and meanwhile, the shape memory alloy spring with the diagonal direction as the first direction is stretched, so that the drive of the shear and deformation of the rigid parallelogram mechanism is realized, and the drive of the shear and deformation of the wing root is further realized; the shape memory alloy spring is arranged on the diagonal line of the rigid parallelogram mechanism unit, the rigid parallelogram mechanism is driven to shear and deform by electrifying and contracting the shape memory alloy spring, so that the wing root shear deformation is realized, and meanwhile, the complexity of a driving system can be reduced by adopting the shape memory alloy spring as a wing root shear deformation driving device, the volume and the weight of the driving system are reduced, and convenience is provided for the deformation of the wing.

5. The cross-medium aircraft based on the bionic morphing wing, which is characterized in that: the wing middle shearing deformation driving device is a plurality of shape memory alloy springs; the shape memory alloy spring is arranged on one of two diagonal lines of each rigid parallelogram mechanism unit in the rigid parallelogram mechanism at the front part in the wing, and one shape memory alloy spring is arranged in each rigid parallelogram mechanism unit; the diagonal directions of the shape memory alloy spring are only two, namely a first direction and a second direction; the diagonal directions of the shape memory alloy springs in the adjacent rigid parallelogram mechanism units are different; the diagonal directions of the shape memory alloy springs in the two rigid parallelogram mechanism units separated by one rigid parallelogram mechanism unit are the same; electrifying and contracting the shape memory alloy spring with the diagonal direction as the first direction to drive the rigid parallelogram mechanism to shear and deform towards a certain direction, and stretching the shape memory alloy spring with the diagonal direction as the second direction; the shape memory alloy spring with the diagonal direction as the second direction is electrified and contracted to drive the rigid parallelogram mechanism to shear and deform towards the other direction, and meanwhile, the shape memory alloy spring with the diagonal direction as the first direction is stretched, so that the drive of the shear and deformation of the rigid parallelogram mechanism is realized, and the drive of the shear and deformation in the wing is further realized; the shape memory alloy spring is arranged on the diagonal line of the rigid parallelogram mechanism unit, the shape memory alloy spring is electrified and contracted to drive the rigid parallelogram mechanism to shear and deform, so that the shearing and deformation in the wing are realized, and meanwhile, the shape memory alloy spring is adopted as a shearing and deformation driving device in the wing, so that the complexity of a driving system can be reduced, the volume and the weight of the driving system are reduced, and convenience is provided for the deformation of the wing.

6. The cross-medium aircraft based on the bionic morphing wing, which is characterized in that: the wing root and wing middle connecting device is two flexible hinges, the wing middle rotary motion driving device is a plurality of shape memory alloy springs and is arranged at the upper edge and the lower edge of the middle connecting part of the wing root and the wing; the shape memory alloy spring positioned on the upper edge is electrified and contracted to drive the wing to deflect upwards, and meanwhile, the shape memory alloy spring on the lower edge is stretched; the shape memory alloy spring positioned on the lower edge is electrified and contracted to drive the wing to deflect downwards, and meanwhile, the shape memory alloy spring on the upper edge is stretched, so that the driving of the rotary motion in the wing is realized; the shape memory alloy springs are arranged on the upper edge and the lower edge of the connection part between the wing root and the wing, the shape memory alloy springs are electrified and contracted to drive the wing to rotate, so that the change of the dihedral angle in the wing is realized, and meanwhile, the shape memory alloy springs are used as a rotary motion driving device in the wing, so that the complexity of a driving system can be reduced, the volume and the weight of the driving system are reduced, and the convenience is provided for the configuration change of the wing;

the wing tip connecting device in the wing is a wing tip mounting platform which is a column hinge fixed on the middle outer side of the wing, and a feather inserting plate of the wing tip extends out of an opening on the inner side of the wing-shaped thin shell and is hinged with the middle outer side of the wing through the wing tip mounting platform; the wing tip rotary motion driving device comprises a telescopic rod, a telescopic rod mounting platform, a shape memory alloy spring and a common spring; the telescopic rod specifically comprises a telescopic rod primary rod and a telescopic rod secondary rod, the outer diameter of the telescopic rod secondary rod is the same as the inner diameter of the telescopic rod primary rod, and the telescopic rod secondary rod is inserted into the telescopic rod primary rod; the telescopic rod primary rod is arranged on the telescopic rod mounting platform, the telescopic rod mounting platform is arranged on the middle outer side of the wing, and the telescopic rod primary rod is hinged with the middle outer side of the wing through the telescopic rod mounting platform; the secondary rod of the telescopic rod is hinged with the feather inserting plate at the wing tip; the common spring is arranged in the primary rod of the telescopic rod and is always in a compressed state, and can exert force on the secondary rod of the telescopic rod; the shape memory alloy spring is arranged outside the telescopic rod, and two ends of the shape memory alloy spring are respectively fixed on the telescopic rod primary rod and the telescopic rod secondary rod; the shape memory alloy spring is electrified to contract to drive the telescopic rod to contract, the telescopic rod drives the feather inserting plate of the wing tip to rotate inwards, and then the feather of the wing tip is driven to converge inwards through the wing tip feather transmission device; the shape memory alloy spring loses acting force after power failure, under the action of the common spring, the shape memory alloy spring restores to the original length, the telescopic rod extends and drives the feather inserting plate of the wing tip to rotate outwards, and then the feather of the wing tip is driven to expand outwards through the wing tip feather transmission device, so that the driving of the rotary motion of the wing tip is realized; and a common spring and a shape memory alloy spring are respectively arranged inside and outside the telescopic rod, so that the shape memory alloy spring is controlled to be powered on and powered off, and the retraction and the expansion of the wing tip are realized.

7. The cross-medium aircraft based on the bionic morphing wing, which is characterized in that:

the wing root feather transmission device is an elastic rope, and two ends of the elastic rope are respectively fixed on a left connecting rod and a right connecting rod of the rigid parallelogram mechanism at the front part of the wing root; the elastic rope connects the root of each feather of the wing root in series; the rigid parallelogram mechanism generates shearing deformation to drive the feathers to rotate around the hinged part of the feather inserting plate through the elastic ropes, so that the direction of each feather of the wing root is kept unchanged, and the transmission from the shearing deformation of the rigid parallelogram mechanism at the front part of the wing root to the feather rotation is realized; the transmission from the rigid parallelogram mechanism at the front part of the wing root to the wing root feather is realized by arranging an elastic rope;

the feather transmission device in the wing is an elastic rope, and two ends of the elastic rope are respectively fixed on a left connecting rod and a right connecting rod of the rigid parallelogram mechanism at the front part in the wing; the elastic rope connects the root of each feather in the wing in series; the rigid parallelogram mechanism generates shearing deformation to drive the feathers to rotate around the hinged part of the feather inserting plate through the elastic ropes, so that the direction of each feather in the wing is kept unchanged, and the transmission from the shearing deformation of the rigid parallelogram mechanism at the middle front part of the wing to the feather rotation is realized; the transmission from the rigid parallelogram mechanism at the front part in the wing to the feather in the wing is realized by arranging an elastic rope;

the wing tip feather transmission device is an elastic rope, two ends of the elastic rope are respectively fixed to the outer side of the wing and the root of the feather on the outermost side of the wing tip, the feather on the outermost side of the wing tip is fixedly connected with the feather inserting plate of the wing tip, and the rest of the feathers on the inner side can rotate around the hinge part of the feather inserting plate of the wing tip; the elastic rope connects the root of each feather of the wingtip in series; the feather inserting plate of the wing tip rotates to drive the feathers to rotate around the hinged part of the feather inserting plate through the elastic rope, so that the feathers of the wing tip are converged or unfolded, and the transmission from the rotation of the feather inserting plate of the wing tip to the rotation of the feathers is realized; the transmission from the feather inserting plate of the wing tip to the wing tip feather is realized by arranging an elastic rope.

8. The cross-medium aircraft based on the bionic morphing wing, which is characterized in that:

the duct inlet and the duct outlet of the underwater propeller are respectively positioned at the neck and the tail of the aircraft body; a baffle is arranged at the inlet of the duct, and the baffle is closed when the medium-crossing aircraft flies in the air, so that the influence of the duct on the aerodynamic appearance is avoided; after entering water, the baffle is automatically opened under the action of water pressure; the duct of the underwater propeller is arranged in the fuselage and the inner space of the wing is communicated with the outside, so that after the cross-medium aircraft enters water, the duct and the inner space of the wing are quickly filled with water, the quick change of the average density of the aircraft is simply and conveniently realized, and the requirement of the underwater navigation of the cross-medium aircraft on the average density is met.

9. The cross-medium aircraft based on the bionic morphing wing, which is characterized in that:

the tail wing is a full-motion V-shaped tail wing;

the aerial propeller is a motor propeller, and blades of the propeller can be folded; the aerial propeller is arranged on the upper side of the tail part of the machine body;

the auxiliary takeoff device comprises a high-pressure gas cylinder and air bags, the high-pressure gas cylinder is positioned in the machine body, the air bags are attached to two sides of the abdomen of the machine body, and the rear parts of the air bags are provided with air nozzles; the high-pressure gas cylinder is used for inflating the air bag; the air bag can inject air backwards through the air injection port.

10. The cross-medium aircraft based on the bionic morphing wing, which is characterized in that: the working method is that when flying in the air, the wing can adapt to various working conditions through the active deformation of the wing and the passive deformation of the feathers, so as to obtain better flight performance; before entering water, the resistance of the cross-medium aircraft in the water entering process is reduced by folding the wings backwards to the maximum extent, and meanwhile, the posture stability in the water entering process is improved; in the process of entering water, the inner spaces of the duct and the wing of the underwater propeller can be quickly filled with water, so that the average density of the aircraft can be quickly changed, and the requirement of the cross-medium aircraft on the average density of the aircraft during underwater navigation is met; after entering water, the air propeller stops working, and the underwater propeller starts working; when sailing in water, the wing is kept in a backward folding state, the sailing resistance is reduced, and the lift redundancy is avoided; when taking off on water, the aircraft floats to the water surface, the air propeller and the underwater propeller work simultaneously, the high-pressure gas cylinder inflates the air bag, the air bag is inflated to serve as a floating barrel, extra buoyancy is provided, draft is reduced, body drainage is promoted, sliding resistance is reduced, stability in the taking off process is improved, an air jet port at the tail part of the air bag continuously jets air backwards, extra thrust is provided, and meanwhile low-head moment caused by eccentricity of thrust of the air propeller is balanced, and the aircraft takes off in a sliding mode.